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All conditions satisfied for yellow_block.", "score": 0.7777777777777778}, {"step": 2386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.7777777777777778}, {"step": 2574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 2575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 2582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 2755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 2755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 2893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 2893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 2985, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3044, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3074, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3074, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3419, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine_01. All conditions satisfied for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 3654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3780, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 3805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3842, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4016, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4089, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4102, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8888888888888888}, {"step": 4104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4109, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8888888888888888}, {"step": 4109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8888888888888888}, {"step": 4120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4135, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.133m", "score": 0.8888888888888888}, {"step": 4151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8888888888888888}, {"step": 4298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'birdhouse' nudged 0.055m", "score": 0.8888888888888888}, {"step": 4312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.051m", "score": 0.8888888888888888}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_1_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b455866590a02b81aeaa5fd32ca8d387e64b8a68 --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 1, "success": true, "final_step": 4087, "events": [{"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 681, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine. All conditions satisfied for lizard_figurine.", "score": 0.1111111111111111}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.1111111111111111}, {"step": 906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.1111111111111111}, {"step": 1099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1099, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.2222222222222222}, {"step": 1231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2222222222222222}, {"step": 1275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1581, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 2031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2031, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.4444444444444444}, {"step": 2058, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2071, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.4444444444444444}, {"step": 2228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2486, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.5555555555555556}, {"step": 2606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.5555555555555556}, {"step": 2759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2759, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.6666666666666666}, {"step": 2777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2814, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.068m", "score": 0.6666666666666666}, {"step": 2944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 2945, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2945, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 2973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3142, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.7777777777777778}, {"step": 3146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['green_block', 'blue_block', 'rubiks_cube_1', 'rubiks_cube', 'red_block', 'lizard_figurine_01', 'rubiks_cube_2', 'lizard_figurine', 'yellow_block'])", "score": 0.8888888888888888}, {"step": 3491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3491, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.8888888888888888}, {"step": 3493, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.8888888888888888}, {"step": 3527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4024, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 4087, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_2_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..7a52503d8955a76d01c748ce03eba49d816d329e --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 2, "success": false, "final_step": 4500, "events": [{"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 871, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.1111111111111111}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1221, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1978, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 1980, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.4444444444444444}, {"step": 2303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2303, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.5555555555555556}, {"step": 2308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2308, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5555555555555556}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5555555555555556}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5555555555555556}, {"step": 2524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5555555555555556}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5555555555555556}, {"step": 2528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5555555555555556}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5555555555555556}, {"step": 2530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5555555555555556}, {"step": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2696, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.6666666666666666}, {"step": 2866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.6666666666666666}, {"step": 3046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3046, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.7777777777777778}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3848, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": 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"OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_3_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_3_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..a387f64e6a0ae60d23e34874cf38278689a4af8f --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_3_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 3, "success": false, "final_step": 4500, "events": [{"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 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"Gripper fully closed", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 854, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 1121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, 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All conditions satisfied for red_block.", "score": 0.1111111111111111}, {"step": 1271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 1421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1421, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.2222222222222222}, {"step": 1866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1866, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.3333333333333333}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2216, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.4444444444444444}, {"step": 2340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 2376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2536, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.5555555555555556}, {"step": 2696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.5555555555555556}, {"step": 2719, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2719, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.5555555555555556}, {"step": 2747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.5555555555555556}, {"step": 2921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2921, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.6666666666666666}, {"step": 3242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 3243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 3348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 3378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 3472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3646, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.7777777777777778}, {"step": 3876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 3981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4035, "code": 256, "name": "GRIPPER_FULLY_CLOSED", 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"info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_4_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_4_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..4f16fc178ce58af55274859dd07eafc872de265a --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_4_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 4, "success": false, "final_step": 4500, "events": [{"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, 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0.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 920, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 1356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 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All conditions satisfied for red_block.", "score": 0.1111111111111111}, {"step": 1534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 1662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1662, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.2222222222222222}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1966, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.3333333333333333}, {"step": 2110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2243, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 2256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2580, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.5555555555555556}, {"step": 2797, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5555555555555556}, {"step": 2941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2941, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.6666666666666666}, {"step": 3168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.6666666666666666}, {"step": 3169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.6666666666666666}, {"step": 3202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.6666666666666666}, {"step": 3371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3371, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.7777777777777778}, {"step": 3520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3906, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3907, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3973, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3974, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4094, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4094, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine_01. All conditions satisfied for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.105m", "score": 0.8888888888888888}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_5_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_5_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..f651262ea9703dddc48fa67495d03ef48f62977e --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_5_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 5, "success": true, "final_step": 3997, "events": [{"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 636, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.1111111111111111}, {"step": 792, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.1111111111111111}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 996, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.2222222222222222}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.3333333333333333}, {"step": 1413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1554, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 1556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 1827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 1966, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.5555555555555556}, {"step": 1977, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5555555555555556}, {"step": 2100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5555555555555556}, {"step": 2276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5555555555555556}, {"step": 2422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2832, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine. All conditions satisfied for lizard_figurine.", "score": 0.6666666666666666}, {"step": 2846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3021, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 3083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.7777777777777778}, {"step": 3466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3637, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.7777777777777778}, {"step": 3661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3661, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.8888888888888888}, {"step": 3806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 3860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 3997, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3997, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_6_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_6_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..4247199e91008549c817334d38cb89657a38b320 --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_6_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 6, "success": true, "final_step": 4352, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 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=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 609, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.1111111111111111}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.1111111111111111}, {"step": 982, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 982, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.2222222222222222}, {"step": 1128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.2222222222222222}, {"step": 1132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.2222222222222222}, {"step": 1164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.2222222222222222}, {"step": 1259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1259, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1262, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.3333333333333333}, {"step": 1267, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 1280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1684, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.4444444444444444}, {"step": 1693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 1852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.4444444444444444}, {"step": 1887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1894, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 1902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4444444444444444}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2164, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.5555555555555556}, {"step": 2344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 2502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2502, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine. All conditions satisfied for lizard_figurine.", "score": 0.6666666666666666}, {"step": 2725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2864, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2952, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2997, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2997, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2999, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2999, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 3009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3009, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 3034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 3112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 3142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3318, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.7777777777777778}, {"step": 3321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.7777777777777778}, {"step": 3533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.7777777777777778}, {"step": 3540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.7777777777777778}, {"step": 3549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.7777777777777778}, {"step": 3553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.7777777777777778}, {"step": 3556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3730, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.8888888888888888}, {"step": 3986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 4352, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_7_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_7_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..3772b166473a7dbce10e6bb76ba175813133eee1 --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_7_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 7, "success": true, "final_step": 4489, "events": [{"step": 338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.1111111111111111}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.1111111111111111}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 961, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.2222222222222222}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1093, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1094, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1094, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.2222222222222222}, {"step": 1219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1219, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1603, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.4444444444444444}, {"step": 1606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4444444444444444}, {"step": 1741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.4444444444444444}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.4444444444444444}, {"step": 1747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.4444444444444444}, {"step": 1881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 1881, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.5555555555555556}, {"step": 2081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.5555555555555556}, {"step": 2261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2261, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.6666666666666666}, {"step": 2427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 2453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.6666666666666666}, {"step": 2454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2611, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.6666666666666666}, {"step": 2775, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 2932, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine_01. All conditions satisfied for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 3116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 3146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.7777777777777778}, {"step": 3273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.7777777777777778}, {"step": 3442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3442, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.8888888888888888}, {"step": 3446, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.8888888888888888}, {"step": 3449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 3711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 3888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3931, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 3951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4013, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.8888888888888888}, {"step": 4412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 4489, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/2026-09-30_14-43-30_harness/CleanUpToysTask/log_8_env0.json b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_8_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..7a66914d7d09f9903b2a5f760010db5e93cf5287 --- /dev/null +++ b/2026-09-30_14-43-30_harness/CleanUpToysTask/log_8_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 8, "success": false, "final_step": 4500, "events": [{"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: 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dropped during transport", "score": 0.0}, {"step": 1062, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1064, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 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All conditions satisfied for rubiks_cube.", "score": 0.1111111111111111}, {"step": 1431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.1111111111111111}, {"step": 1601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1601, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. 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All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2487, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.4444444444444444}, {"step": 2492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.4444444444444444}, {"step": 2681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.4444444444444444}, {"step": 2684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.4444444444444444}, {"step": 2693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4444444444444444}, {"step": 2693, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.4444444444444444}, {"step": 2695, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.4444444444444444}, {"step": 2830, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['green_block', 'blue_block', 'rubiks_cube_1', 'rubiks_cube', 'red_block', 'lizard_figurine_01', 'rubiks_cube_2', 'lizard_figurine', 'yellow_block'])", "score": 0.5555555555555556}, {"step": 2830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5555555555555556}, {"step": 2830, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5555555555555556}, {"step": 2830, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.5555555555555556}, {"step": 2832, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5555555555555556}, {"step": 3049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5555555555555556}, {"step": 3150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5555555555555556}, {"step": 3187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3187, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lizard_figurine, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lizard_figurine. All conditions satisfied for lizard_figurine.", "score": 0.6666666666666666}, {"step": 3201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.6666666666666666}, {"step": 3559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3559, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.7777777777777778}, {"step": 3563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 3757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.7777777777777778}, {"step": 3921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3921, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yellow_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yellow_block. All conditions satisfied for yellow_block.", "score": 0.8888888888888888}, {"step": 3944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4168, "code": 248, 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pomegranate01.", "score": 0.14285714285714285}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 385, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 974, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 974, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1473, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1473, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.14285714285714285}, {"step": 1478, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.14285714285714285}, {"step": 1486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.075m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.209m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.177m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.128m", "score": 0.14285714285714285}, {"step": 1581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1611, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1785, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1943, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1943, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1954, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1958, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1958, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2136, "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": 0.2857142857142857}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2857142857142857}, {"step": 2294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2416, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.42857142857142855}, {"step": 2417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2701, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.5714285714285714}, {"step": 2818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.5714285714285714}, {"step": 2825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.5714285714285714}, {"step": 2947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.5714285714285714}, {"step": 3045, "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": 0.7142857142857143}, {"step": 3048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.7142857142857143}, {"step": 3189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.7142857142857143}, {"step": 3284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.8571428571428571}, {"step": 3293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 4251, "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/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..c2cb49910a2f3ae52411bd5f74e70942229c197b --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 221, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 366, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 379, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 405, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 827, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1154, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.517m", "score": 0.14285714285714285}, {"step": 1366, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 1367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.283m", "score": 0.14285714285714285}, {"step": 1489, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 1578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1946, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.098m", "score": 0.14285714285714285}, {"step": 1946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1947, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.062m", "score": 0.14285714285714285}, {"step": 1947, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.158m", "score": 0.14285714285714285}, {"step": 2050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 2152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2275, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.14285714285714285}, {"step": 2311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.158m", "score": 0.14285714285714285}, {"step": 2378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.492m", "score": 0.14285714285714285}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2620, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.2857142857142857}, {"step": 2620, "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": 0.2857142857142857}, {"step": 2716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2828, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 2829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 2967, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2970, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2970, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 2971, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 3091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 3091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 3092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 3093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 3096, "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": 0.5714285714285714}, {"step": 3100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 3364, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 3367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3468, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.5714285714285714}, {"step": 3468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3469, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.7142857142857143}, {"step": 3469, "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": 0.7142857142857143}, {"step": 3599, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 3609, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 3626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 3745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.8571428571428571}, {"step": 3957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..817743217589f5a101b3dea0bc7b3c554128c7a8 --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 505, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 506, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.451m", "score": 0.14285714285714285}, {"step": 996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 998, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1131, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.333m", "score": 0.14285714285714285}, {"step": 1176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.14285714285714285}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1471, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.2857142857142857}, {"step": 1628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1776, "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": 0.42857142857142855}, {"step": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2137, "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": 0.5714285714285714}, {"step": 2486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3260, "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": 0.8571428571428571}, {"step": 3286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3477, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 3591, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.671m", "score": 0.8571428571428571}, {"step": 3804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3860, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3865, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.105m", "score": 0.8571428571428571}, {"step": 4228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.241m", "score": 0.8571428571428571}, {"step": 4237, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.291m", "score": 0.8571428571428571}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4a6b3f616bfe4dfc8f88594fbc131a3136937d --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 3, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 990, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.14285714285714285}, {"step": 991, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 992, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 992, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 993, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1017, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1019, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.14285714285714285}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1183, "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": 0.2857142857142857}, {"step": 1327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.2857142857142857}, {"step": 1331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.2857142857142857}, {"step": 1332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.2857142857142857}, {"step": 1333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 1357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.2857142857142857}, {"step": 1551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 1720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1720, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 1897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 1926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2084, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2084, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.5714285714285714}, {"step": 2579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 3030, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3030, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3524, "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": 0.8571428571428571}, {"step": 3542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3545, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3552, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.067m", "score": 0.8571428571428571}, {"step": 3656, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'clay_plates' displaced 120.611m", "score": 0.8571428571428571}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..db0550215ae70b1aaa79bc23d25f3edf2237d0ec --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 4, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1128, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 1128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1140, "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1276, "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": 0.2857142857142857}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 1626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1626, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 1868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2066, "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": 0.5714285714285714}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2451, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3802, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3803, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b41780ce6a7d84a1b47cc47f23318a5d26923838 --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 5, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 927, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1003, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1006, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1011, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1082, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1086, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.487m", "score": 0.14285714285714285}, {"step": 1371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1372, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1380, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1987, "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": 0.2857142857142857}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1993, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2857142857142857}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2471, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.5714285714285714}, {"step": 2751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3170, "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": 0.8571428571428571}, {"step": 3186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3298, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.8571428571428571}, {"step": 3387, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.270m", "score": 0.8571428571428571}, {"step": 3427, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3428, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3436, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'redonion'", "score": 0.8571428571428571}, {"step": 3444, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'redonion' displaced 0.735m", "score": 0.8571428571428571}, {"step": 3577, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 3697, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.553m", "score": 0.8571428571428571}, {"step": 3848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3889, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3940, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4044, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.057m", "score": 0.8571428571428571}, {"step": 4063, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4408, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfc0d2296b68420f5565169d423c9cb6dbb8ccd --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 6, "success": false, "final_step": 4500, "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": 0.14285714285714285}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 459, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.14285714285714285}, {"step": 603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 606, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 622, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.326m", "score": 0.14285714285714285}, {"step": 771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1053, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1053, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 1347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 1349, "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": 0.2857142857142857}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2857142857142857}, {"step": 1828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.2857142857142857}, {"step": 1870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2857142857142857}, {"step": 2021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2021, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.42857142857142855}, {"step": 2038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 2176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.42857142857142855}, {"step": 2176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 2296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 2456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2456, "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": 0.5714285714285714}, {"step": 2459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2747, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.7142857142857143}, {"step": 2753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 2912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 2917, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3058, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3058, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3087, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3093, "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": 0.8571428571428571}, {"step": 3156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3725, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3726, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3844, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4050, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4055, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4112, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4381, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.656m", "score": 0.8571428571428571}, {"step": 4414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.150m", "score": 0.8571428571428571}]} \ No newline at end of file diff --git a/2026-09-30_14-44-09_harness/FruitsOnPlateTask/run_0.hdf5 b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/run_0.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..7ed96450f0c03a99075194107329fd64f675640a --- /dev/null +++ b/2026-09-30_14-44-09_harness/FruitsOnPlateTask/run_0.hdf5 @@ 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"failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 636, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.09090909090909091}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.09090909090909091}, {"step": 859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 956, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1071, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.18181818181818182}, {"step": 1195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.18181818181818182}, {"step": 1276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.18181818181818182}, {"step": 1380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1380, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.2727272727272727}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2727272727272727}, {"step": 1504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2727272727272727}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1591, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.36363636363636365}, {"step": 1599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.36363636363636365}, {"step": 1605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1696, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.36363636363636365}, {"step": 1720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1802, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 2066, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.45454545454545453}, {"step": 2071, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5454545454545454}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2302, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 2535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2535, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.7272727272727273}, {"step": 2766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 2766, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.8181818181818182}, {"step": 2921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 2937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 2937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 2996, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3001, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3072, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3072, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3421, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8181818181818182}, {"step": 3444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.8181818181818182}, {"step": 3444, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3534, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.639m", "score": 0.8181818181818182}, {"step": 3541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.054m", "score": 0.8181818181818182}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_1_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..0fe9319a96f6e7307cd7f9f46fdb4e6fde66e4cc --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 611, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 613, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 613, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_onion). regressing to step 0 for red_onion.", "score": 0.0}, {"step": 692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_onion). regressing to step 0 for red_onion.", "score": 0.0}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.0}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 961, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.09090909090909091}, {"step": 1169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.09090909090909091}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.09090909090909091}, {"step": 1214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.18181818181818182}, {"step": 1297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.18181818181818182}, {"step": 1299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.18181818181818182}, {"step": 1343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.18181818181818182}, {"step": 1444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1444, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.2727272727272727}, {"step": 1547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.2727272727272727}, {"step": 1549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.2727272727272727}, {"step": 1550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.2727272727272727}, {"step": 1690, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1690, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.36363636363636365}, {"step": 1795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1913, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 2091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 2204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2204, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5454545454545454}, {"step": 2219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5454545454545454}, {"step": 2325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5454545454545454}, {"step": 2327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5454545454545454}, {"step": 2330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5454545454545454}, {"step": 2332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5454545454545454}, {"step": 2333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5454545454545454}, {"step": 2334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5454545454545454}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5454545454545454}, {"step": 2343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5454545454545454}, {"step": 2443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2443, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.6363636363636364}, {"step": 2450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 2728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2732, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2732, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2733, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2805, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 2888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2923, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2923, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2924, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 3006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 3341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3341, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.8181818181818182}, {"step": 3446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3569, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.057m", "score": 0.8181818181818182}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_2_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b59bac36ddb42e794d014fee757d43a4b29111f9 --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 586, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.09090909090909091}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 708, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 708, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.18181818181818182}, {"step": 979, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.18181818181818182}, {"step": 1083, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1083, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.2727272727272727}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2727272727272727}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2727272727272727}, {"step": 1224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1343, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.36363636363636365}, {"step": 1487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 1750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 1751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.45454545454545453}, {"step": 1753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 1763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.45454545454545453}, {"step": 1765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 1911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 1911, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5454545454545454}, {"step": 1917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2057, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2064, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2064, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2065, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2169, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.5454545454545454}, {"step": 2169, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5454545454545454}, {"step": 2184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5454545454545454}, {"step": 2331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5454545454545454}, {"step": 2611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.5454545454545454}, {"step": 2628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_onion). regressing to step 0 for red_onion.", "score": 0.5454545454545454}, {"step": 2631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.5454545454545454}, {"step": 2736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2736, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.6363636363636364}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2855, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6363636363636364}, {"step": 2876, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.6363636363636364}, {"step": 2876, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'crabbypenholder'", "score": 0.6363636363636364}, {"step": 2971, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.695m", "score": 0.6363636363636364}, {"step": 2976, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.6363636363636364}, {"step": 2977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 3315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.6363636363636364}, {"step": 3366, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 3441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 3447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 3461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 3525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 3526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.6363636363636364}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_3_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_3_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf0b5ec3db1a65ed063430a2d7939c60b8753bb --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_3_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 565, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 702, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.09090909090909091}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 928, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.09090909090909091}, {"step": 928, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.09090909090909091}, {"step": 1120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1120, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.18181818181818182}, {"step": 1233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.18181818181818182}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1315, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.2727272727272727}, {"step": 1469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2727272727272727}, {"step": 1478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.2727272727272727}, {"step": 1479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2727272727272727}, {"step": 1562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1562, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.36363636363636365}, {"step": 1572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.36363636363636365}, {"step": 1789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1789, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.45454545454545453}, {"step": 1795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1882, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.45454545454545453}, {"step": 1901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.45454545454545453}, {"step": 1978, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.5454545454545454}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 1978, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.5454545454545454}, {"step": 1978, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.5454545454545454}, {"step": 1980, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.5454545454545454}, {"step": 2121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.5454545454545454}, {"step": 2221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2221, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6363636363636364}, {"step": 2223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2440, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 2442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2854, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2859, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7272727272727273}, {"step": 2859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2860, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 2902, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2902, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 3371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7272727272727273}, {"step": 3374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7272727272727273}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_4_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_4_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..3908a2bf71dba7e52c5b17df85edc71f4745d5bd --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_4_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 672, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.09090909090909091}, {"step": 792, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.18181818181818182}, {"step": 1115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.18181818181818182}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1216, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.2727272727272727}, {"step": 1333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1448, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.36363636363636365}, {"step": 1450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.36363636363636365}, {"step": 1572, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.36363636363636365}, {"step": 1594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1683, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 1685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2169, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5454545454545454}, {"step": 2283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2423, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 2553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 2666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2666, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 2672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7272727272727273}, {"step": 2755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7272727272727273}, {"step": 2756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7272727272727273}, {"step": 2775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7272727272727273}, {"step": 2908, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7272727272727273}, {"step": 2948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7272727272727273}, {"step": 3020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.7272727272727273}, {"step": 3112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3112, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.8181818181818182}, {"step": 3235, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8181818181818182}, {"step": 3255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.8181818181818182}, {"step": 3255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3278, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.164m", "score": 0.8181818181818182}, {"step": 3338, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.641m", "score": 0.8181818181818182}, {"step": 3351, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3352, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.8181818181818182}, {"step": 3354, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.8181818181818182}, {"step": 3355, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3356, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.8181818181818182}, {"step": 3356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3358, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3364, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.119m", "score": 0.8181818181818182}, {"step": 3443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=pomegranate01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for pomegranate01. All conditions satisfied for pomegranate01.", "score": 0.9090909090909091}, {"step": 3531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.9090909090909091}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_5_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_5_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..8660ff9c729cd2f81812a0cb7c23174c1a700345 --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_5_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 706, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.09090909090909091}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 939, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.18181818181818182}, {"step": 1037, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1049, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1049, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1074, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1074, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.18181818181818182}, {"step": 1314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.18181818181818182}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.18181818181818182}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.18181818181818182}, {"step": 1431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1431, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.2727272727272727}, {"step": 1454, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.2727272727272727}, {"step": 1569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2727272727272727}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1681, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.36363636363636365}, {"step": 1683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.36363636363636365}, {"step": 1813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.36363636363636365}, {"step": 1951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 2044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2044, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 2209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.45454545454545453}, {"step": 2350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2350, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5454545454545454}, {"step": 2454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2486, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 2620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2709, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.6363636363636364}, {"step": 2789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.6363636363636364}, {"step": 2909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2909, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.7272727272727273}, {"step": 2914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3015, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 3016, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.7272727272727273}, {"step": 3129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3129, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.8181818181818182}, {"step": 3213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3429, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'milkjug_a01'", "score": 0.8181818181818182}, {"step": 3432, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'milkjug_a01' displaced 0.734m", "score": 0.8181818181818182}, {"step": 3470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}]} \ No newline at end of file diff --git a/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_6_env0.json b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_6_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..c2dab272c9be2dafb70ba96029904e7a05ade9a8 --- /dev/null +++ b/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_6_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 439, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 565, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"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=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 726, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.09090909090909091}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.09090909090909091}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 996, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.18181818181818182}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.18181818181818182}, {"step": 1285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=lime01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.2727272727272727}, {"step": 1290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2727272727272727}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2727272727272727}, {"step": 1616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1616, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lime01_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.36363636363636365}, {"step": 1739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1758, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.36363636363636365}, {"step": 1758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.36363636363636365}, {"step": 1761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.36363636363636365}, {"step": 1865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1865, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_02, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.45454545454545453}, {"step": 1983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1988, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1989, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1990, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2129, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinsmall, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinsmall. All conditions satisfied for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5454545454545454}, {"step": 2251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5454545454545454}, {"step": 2252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5454545454545454}, {"step": 2297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5454545454545454}, {"step": 2299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5454545454545454}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2429, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.6363636363636364}, {"step": 2433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.6363636363636364}, {"step": 2690, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2690, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_onion, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_onion. All conditions satisfied for red_onion.", "score": 0.7272727272727273}, {"step": 2694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 2849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7272727272727273}, {"step": 2986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 2986, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=lemon_01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.8181818181818182}, {"step": 3106, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8181818181818182}, {"step": 3143, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8181818181818182}, {"step": 3144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'crabbypenholder' (target objects: ['lime01_01', 'orange_02', 'lemon_01', 'pumpkinlarge', 'pumpkinsmall', 'lime01', 'orange_01', 'red_onion', 'avocado01', 'pomegranate01', 'lemon_02'])", "score": 0.8181818181818182}, {"step": 3144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.167m", "score": 0.8181818181818182}, {"step": 3231, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.604m", "score": 0.8181818181818182}, {"step": 3273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.8181818181818182}, {"step": 3385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8181818181818182}, {"step": 3434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8181818181818182}, {"step": 3591, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' 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"joint_isj": 98256.515617112, "ee_path_length": 19.08171229242567, "joint_rmse_mean": 1.0335325997231757, "ee_speed_max": 0.256419837474823, "ee_speed_mean": 0.07603108882904053}, "events": {"TARGET_OBJECT_DROPPED": 40, "GRIPPER_FULLY_CLOSED": 10, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_HIT_TABLE": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "WRONG_OBJECT_GRABBED": 1, "OBJECT_MOVED": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["crabbypenholder"]}, "instruction_type": "default", "timing": {"policy_inference_s": 9778.168, "policy_inference_avg_ms": 2716.2, "env_step_s": 3251.936, "env_step_avg_ms": 903.3, "video_write_s": 26.612, "video_write_avg_ms": 7.4, "wall_total_s": 13056.716, "it_per_sec": 0.28}, "score": 0.8181818127632141, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"} +{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.323389321664577, "joint_sparc_mean": -13.772034423504882, "ee_isj": 2006.1817448113131, "joint_isj": 138972.78511309254, "ee_path_length": 16.790227061125687, "joint_rmse_mean": 1.0876776237399095, "ee_speed_max": 0.5039894580841064, "ee_speed_mean": 0.06783194094896317}, "events": {"TARGET_OBJECT_DROPPED": 44, "GRIPPER_FULLY_CLOSED": 7, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 2570.726, "policy_inference_avg_ms": 714.1, "env_step_s": 3101.438, "env_step_avg_ms": 861.5, "video_write_s": 25.664, "video_write_avg_ms": 7.1, "wall_total_s": 5697.828, "it_per_sec": 0.63}, "score": 0.8181818127632141, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"} +{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.255696239038658, "joint_sparc_mean": -9.392971639749556, "ee_isj": 1054.3746806588306, "joint_isj": 66478.45483106138, "ee_path_length": 17.589423811048256, "joint_rmse_mean": 1.0784006426997872, "ee_speed_max": 0.27081573009490967, "ee_speed_mean": 0.06983645260334015}, "events": {"TARGET_OBJECT_DROPPED": 51, "GRIPPER_FULLY_CLOSED": 12, "GRIPPER_HIT_OBJECT": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_HIT_TABLE": 2, "WRONG_OBJECT_GRABBED": 1, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["crabbypenholder"]}, "instruction_type": "default", "timing": 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for sugar_box.", "score": 0.3333333333333333}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2470, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.129m", "score": 0.3333333333333333}, {"step": 2491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.054m", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3305, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 3314, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 1.661m", "score": 0.3333333333333333}, {"step": 3318, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 1.751m", "score": 0.3333333333333333}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b3e75e1f0d2406213bea20ebe329b0b0cca89268 --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1919, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.108m", "score": 0.0}, {"step": 2341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.172m", "score": 0.0}, {"step": 2420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2430, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.0}, {"step": 2577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2947, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.106m", "score": 0.0}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..d30354a8af85e0965bf87e708734166558ebd82d --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1557, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.123m", "score": 0.3333333333333333}, {"step": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2068, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2981, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3023, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3027, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3030, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 3221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.112m", "score": 0.3333333333333333}, {"step": 3271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.211m", "score": 0.3333333333333333}, {"step": 3277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.052m", "score": 0.3333333333333333}, {"step": 3377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 3573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3573, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3578, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 3581, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.3333333333333333}, {"step": 3583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.075m", "score": 0.3333333333333333}, {"step": 3587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.085m", "score": 0.3333333333333333}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..b8299cd12dff2b3fceeffd4144106994c328f584 --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1167, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.086m", "score": 0.3333333333333333}, {"step": 2400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tuna_can' nudged 0.092m", "score": 0.3333333333333333}, {"step": 2404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.194m", "score": 0.3333333333333333}, {"step": 2455, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.169m", "score": 0.3333333333333333}, {"step": 2457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.215m", "score": 0.3333333333333333}, {"step": 2465, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.065m", "score": 0.3333333333333333}, {"step": 2466, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.097m", "score": 0.3333333333333333}, {"step": 2468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.074m", "score": 0.3333333333333333}, {"step": 2478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.095m", "score": 0.3333333333333333}, {"step": 2480, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.3333333333333333}, {"step": 2481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=sugar_box, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for sugar_box. All conditions satisfied for sugar_box.", "score": 0.6666666666666666}, {"step": 2485, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.6666666666666666}, {"step": 2486, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.574m", "score": 0.6666666666666666}, {"step": 2487, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 0.893m", "score": 0.6666666666666666}, {"step": 2616, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..6afe6766e0b49b2d19c5a1bc4787cad0b66f2dd2 --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 758, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1475, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 1482, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.051m", "score": 0.3333333333333333}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "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=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1934, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.3333333333333333}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.3333333333333333}, {"step": 2511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2648, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2761, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.3333333333333333}, {"step": 2771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.3333333333333333}, {"step": 2772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2790, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.196m", "score": 0.3333333333333333}, {"step": 2866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 3227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 3278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..9c1afe9e63b0b774a2a6196e10607fccd9ed377a --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1049, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1049, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.057m", "score": 0.0}, {"step": 1456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.147m", "score": 0.0}, {"step": 1516, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.076m", "score": 0.0}, {"step": 1534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1544, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.067m", "score": 0.0}, {"step": 1650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 1762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3014, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..c41c62567727d71f0704c199ff82ac2f245ba3eb --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1003, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1054, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1057, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1059, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1060, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1069, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2077, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.273m", "score": 0.0}, {"step": 2136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.245m", "score": 0.0}, {"step": 2261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.180m", "score": 0.0}, {"step": 2306, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.201m", "score": 0.0}, {"step": 2531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.182m", "score": 0.0}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.073m", "score": 0.0}, {"step": 2641, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.138m", "score": 0.0}, {"step": 2709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.060m", "score": 0.0}, {"step": 2769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.274m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.120m", "score": 0.0}, {"step": 2940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.101m", "score": 0.0}, {"step": 3044, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 3220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 3549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c7c13001bf687fdc28a903b0cd0a6391a10e07 --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 947, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.3333333333333333}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1052, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.3333333333333333}, {"step": 1082, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.063m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.262m", "score": 0.3333333333333333}, {"step": 1085, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.179m", "score": 0.3333333333333333}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.130m", "score": 0.3333333333333333}, {"step": 1098, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.288m", "score": 0.3333333333333333}, {"step": 1152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.071m", "score": 0.3333333333333333}, {"step": 1228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.161m", "score": 0.3333333333333333}, {"step": 1728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 1848, "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=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.3333333333333333}, {"step": 2012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2012, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=chocolate_pudding, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for chocolate_pudding. All conditions satisfied for chocolate_pudding.", "score": 0.6666666666666666}, {"step": 2083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}]} \ No newline at end of file diff --git a/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json new file mode 100644 index 0000000000000000000000000000000000000000..0a4a592c70b162080a6895ede43a76172fcff155 --- /dev/null +++ b/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3BoxesTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spam_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spam_can'", "score": 0.0}, {"step": 376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.088m", "score": 0.0}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.248m", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spam_can'", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.199m", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 1095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.0}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1886, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1925, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1926, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 1927, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2050, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['chocolate_pudding', 'cheez_it', 'sugar_box'])", "score": 0.0}, {"step": 2059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2060, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 2073, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.154m", "score": 0.0}, {"step": 2166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 2506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=chocolate_pudding). advanced 1 step(s) to step 1 for chocolate_pudding.", "score": 0.0}, {"step": 2508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for 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