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index a05fca469b3b6a3b3498ed55b21d1c5635ce2b03..524b7cd4ea73991fc5ea8d5595ee337615b065b4 100644
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05655941259e7f3b955c4bd05494587191b93fa8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 0, "success": true, "final_step": 816, "events": [{"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during 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"OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 816, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..febd3e2295547d9c1f55a86ad27237bd532d7a22
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 1, "success": true, "final_step": 761, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 324, "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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 601, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 761, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dfc8c449b91b8a0f8024923c3ba86db9ecf3ae
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 2, "success": true, "final_step": 761, "events": [{"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 636, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 761, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d22fc042e23fa88dc09733fe86d69c53e44ec54
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 3, "success": true, "final_step": 335, "events": [{"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 228, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 335, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84dd9cf2c34eca51e16cf2149ac76d1aec36f6f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 4, "success": true, "final_step": 833, "events": [{"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 710, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 833, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..629b74694d8a7c0ceea62f115c12099e88eba955
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinOneMoreTask", "env_id": 0, "run": 5, "success": true, "final_step": 709, "events": [{"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 525, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 709, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e28083d8110008a5cafe51c013d16f4a9e1c46
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInBinOneMoreTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..047408254cad269ec4a185023796d6643fbf2d2b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 0, "success": true, "final_step": 586, "events": [{"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 586, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e040e655299d97abf5426a234ac6d5c68c1ca0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 1, "success": true, "final_step": 462, "events": [{"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'purple_crate'", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6317deb63fd7811c1e95d047fa7e1dd5a91e85
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 2, "success": true, "final_step": 406, "events": [{"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 406, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c711bc1cc90290bc5c91c7c480d02702877a7ce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 3, "success": true, "final_step": 650, "events": [{"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 517, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 650, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..929759362b01bcc7eb2f70ec3429833d7f936a7a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 4, "success": true, "final_step": 488, "events": [{"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 488, "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/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8c68aab8115ad099dc78bb8da61cfe7a5178c5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f3a42dafd6f2566b445261e34eb1a6863bdacd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_7_env0.json
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index 0000000000000000000000000000000000000000..89dc221e9548b042b4e27c403cc046e33dbf3fef
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_8_env0.json
new file mode 100644
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--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 8, "success": true, "final_step": 488, "events": [{"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 488, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BananasInCrateTask/log_9_env0.json
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index 0000000000000000000000000000000000000000..2019eae19b81342e076d22723f885863674adfa9
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84aab15324376fdf5eece72f6e49dc810528cee
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 620, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 620, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..463c120924af1b2d30d40db7b196f97099f9e6bd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 801, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target 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"code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 801, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5922b4e0fe916646585293c717c819749dc9704
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 771, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 771, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57718ed8eb865da8f51c38d678e5a4dc8ae1e12
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 452, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 452, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc548a5921b52eaa0f1a1485a6b8e0ff68f243ce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 777, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 777, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff9681af507938e63ee38ccbd3a4cf7b55bd3b2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 408, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c2eb0ee202b2913cda3443a923c6779e0d9e38
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BigPumpkinInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 845, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"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=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 623, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 624, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 703, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 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=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 845, "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/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba2d5cd30b0932a6b57404756388a4ec50cccb1
--- /dev/null
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BigPumpkinInBinTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e72301d6eb61d77dd515a3739db5d5f6d763ff26
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 779, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 828, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 885, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72809b3966fd954d2eff396baafecb9bad63a7cd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 894, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl'])", "score": 0.0}, {"step": 894, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 896, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl'])", "score": 0.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..872524c7b1016324f757240a7592af2cf9a0f128
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 706, "events": [{"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.103m", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6afb45838666cfb299dd1470c61983ee24a77ce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 475, "events": [{"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 475, "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/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95b68551cf99ddeb6241453cac813c783bae1bd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 642, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "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=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 642, "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/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..862beb348d5b6072cc0df7f0dd10536f84a61608
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 736, "events": [{"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "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=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 736, "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/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..98e1807d68d3ade0c9f9aa5407cee54d3c1e36d8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/BowlInBinTask/log_6_env0.json
@@ -0,0 +1 @@
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"is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spring_clamp", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spring_clamp": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7f526b84ae80>, object='spring_clamp', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "simple"], "_task_attributes": ["semantics", "spatial", "simple"], "_task_name": "ClampInRightBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the spring clamp in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the spring clamp in the right bin", "vague": "Put the clamp in the right bin", "specific": "Pick up the spring clamp from the table and place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b019f17e42cfe498aa83a145b4a494e5151ce95
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 548, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 612, "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=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 835, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 860, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11d7fc5d82302faace1282c35528a6a692f8cc4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 693, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42fb453509611042b70fd4279cea02da9e99e99b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 566, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 865, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 869, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf01dae595fa1f646a89bfdfdf7e8f5b5726d6b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 746, "events": [{"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 746, "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/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..630339790f0ed6abd83aa14df45974f1e70c948f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 396, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 683, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b67e614bcac9aa803bc22e1d95a9e6113c3876
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 740, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 740, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 835, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 875, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a8b4f56814995b5aebcc35553f56f17aa51e87
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed4bedbb1c7e2d5fee13174abc371c4fe4dd02b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_7_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c385a61e5340ea988af4a21c794513fab32728d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_9_env0.json
new file mode 100644
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--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/ClampInRightBinTask/log_9_env0.json
@@ -0,0 +1 @@
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object_grabbed at 0x7f93afcdcd60>, object='yellow_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f93afc62ca0>, object='yellow_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "red_block": [["functools.partial(<function object_grabbed at 0x7f93afcdcd60>, object='red_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f93afc62ca0>, object='red_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "green_block": [["functools.partial(<function object_grabbed at 0x7f93afcdcd60>, object='green_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f93afc62ca0>, object='green_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "blue_block": [["functools.partial(<function object_grabbed at 0x7f93afcdcd60>, object='blue_block')", 0.0], ["functools.partial(<function object_in_container at 0x7f93afc62ca0>, object='blue_block', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "lizard_figurine_01": [["functools.partial(<function object_grabbed at 0x7f93afcdcd60>, object='lizard_figurine_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f93afc62ca0>, object='lizard_figurine_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["sorting", "semantics", "complex"], "_task_attributes": ["sorting", "semantics", "complex"], "_task_name": "CleanUpToysTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Clean up all the smaller toys and leave the birdhouse on the table", "contact_object_list": ["table", "rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "grey_bin", "lizard_figurine", "birdhouse", "yellow_block", "red_block", "green_block", "blue_block", "lizard_figurine_01"], "_instruction_variants": {"default": "Clean up all the smaller toys and leave the birdhouse on the table", "vague": "Clean up everything except the birdhouse", "specific": "Pick up every toy object (rubiks cube, lizard figurines, colored blocks) from the table and place them all into the bin. Please ignore the birdhouse and don't touch it."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c28018fd27971d69e3e90c4dc0b79907f464e83
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 0, "success": false, "final_step": 4500, "events": [{"step": 266, "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": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 461, "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": 609, "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": 725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 725, "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. 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All conditions satisfied for rubiks_cube_1.", "score": 0.5555555555555556}, {"step": 1909, "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": 2071, "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": 0.6666666666666666}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2071, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6666666666666666}, {"step": 2071, "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": 2073, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.6666666666666666}, {"step": 2226, "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": 2385, "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": 0.7777777777777778}, {"step": 2385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 2385, "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": 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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b455866590a02b81aeaa5fd32ca8d387e64b8a68
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a52503d8955a76d01c748ce03eba49d816d329e
--- /dev/null
+++ b/full_task_1x/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": "success: object_grabbed(object=lizard_figurine_01). advanced 1 step(s) to step 1 for lizard_figurine_01.", "score": 0.7777777777777778}, {"step": 4251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4251, "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": 4325, "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": 4328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4329, "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": 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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a387f64e6a0ae60d23e34874cf38278689a4af8f
--- /dev/null
+++ b/full_task_1x/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": 386, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.057m", "score": 0.0}, {"step": 709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.051m", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "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, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. 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", "info": "Gripper fully closed", "score": 0.7777777777777778}, {"step": 4035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4094, "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": 4131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7777777777777778}, {"step": 4131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.7777777777777778}, {"step": 4172, "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": 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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f16fc178ce58af55274859dd07eafc872de265a
--- /dev/null
+++ b/full_task_1x/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}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "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": 492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 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": 0.1111111111111111}, {"step": 1356, "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": 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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f651262ea9703dddc48fa67495d03ef48f62977e
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4247199e91008549c817334d38cb89657a38b320
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3772b166473a7dbce10e6bb76ba175813133eee1
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a66914d7d09f9903b2a5f760010db5e93cf5287
--- /dev/null
+++ b/full_task_1x/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: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 382, "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": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 756, "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": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 812, "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": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 877, "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": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1036, "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": 1062, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object 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": 0.1111111111111111}, {"step": 1246, "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": 0.1111111111111111}, {"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. All conditions satisfied for blue_block.", "score": 0.2222222222222222}, {"step": 1790, "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": 1803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2222222222222222}, {"step": 1806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1806, "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": 1918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.2222222222222222}, {"step": 1919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 1919, "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": 1994, "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": 2133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2133, "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": 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, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4251, "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": 4283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4283, "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": 4284, "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": 4285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4286, "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": 4365, "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": 4366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4366, "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": 4368, "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": 4379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4386, "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": 4425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4464, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8c9ab18861bb4bdb6d95327a20eabf904fac0e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CleanUpToysTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CleanUpToysTask", "env_id": 0, "run": 9, "success": true, "final_step": 4440, "events": [{"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}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 369, "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": 375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 376, "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": 384, "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 390, "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": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 393, "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": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 466, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 475, "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": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.1111111111111111}, {"step": 573, "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": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.1111111111111111}, {"step": 817, "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": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2222222222222222}, {"step": 976, "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": 1136, "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": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1321, "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 yellow_block.", "score": 0.8888888888888888}, {"step": 3875, "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": 3876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3876, "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": 3877, "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": 3884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 3884, "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": 3886, "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": 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_01). regressing to step 0 for lizard_figurine_01.", "score": 0.8888888888888888}, {"step": 4306, "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": 4432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8888888888888888}, {"step": 4439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8888888888888888}, {"step": 4439, "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": 4440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa9f4982139f69a90c55fc2f70bf3bc93fbeac9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 2783, "events": [{"step": 222, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.462m", "score": 0.0}, {"step": 648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 885, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 886, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.16666666666666666}, {"step": 893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1279, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1510, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1511, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.625}, {"step": 1511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.625}, {"step": 1514, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.625}, {"step": 1516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.625}, {"step": 1664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.625}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1832, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2037, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2217, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.875}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2783, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..03944def17bf5c29181a5c33c2e1c7955b8ee3af
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 2805, "events": [{"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.160m", "score": 0.0}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.393m", "score": 0.0}, {"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.088m", "score": 0.0}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 661, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 661, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 787, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.300m", "score": 0.0}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1008, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1012, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1019, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1146, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1486, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1777, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1782, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.056m", "score": 0.75}, {"step": 1787, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 1848, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.077m", "score": 0.75}, {"step": 2211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2397, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2805, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ebada90b7b5f366a5b5d827fe961bcbd1e7386
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 3419, "events": [{"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 699, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1129, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.274m", "score": 0.16666666666666666}, {"step": 1287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1822, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1992, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2138, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 2298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2473, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2748, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2748, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2764, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2913, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 3197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 3419, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1cdc277fbb2827e0e5ae8a65a74bca50ae6983
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 2466, "events": [{"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 552, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.419m", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 806, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 951, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 951, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1045, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.303m", "score": 0.16666666666666666}, {"step": 1063, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1344, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1600, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.75}, {"step": 1601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1610, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 1612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.065m", "score": 0.75}, {"step": 1861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2041, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.875}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2466, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bbb892c0a7fd18b3bd728a9074cb6ff67f1fd3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 3271, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 899, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 1536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1536, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1656, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1656, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.282m", "score": 0.16666666666666666}, {"step": 1910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1922, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1926, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2056, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2326, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2931, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 3096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a45b7bfe8604c2e0c3a4bee916f5a55ea0af8b2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 3149, "events": [{"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 826, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1171, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.3333333333333333}, {"step": 1523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.3333333333333333}, {"step": 1524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.290m", "score": 0.3333333333333333}, {"step": 1696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1895, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1896, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 2095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2280, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2285, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 2525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2739, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.875}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2739, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2741, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.875}, {"step": 2742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.875}, {"step": 2742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.875}, {"step": 2960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3149, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..611d0c3b726379edfd0a792dc01b57e3af6e8dbe
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 3015, "events": [{"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1036, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1067, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.259m", "score": 0.16666666666666666}, {"step": 1335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1483, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1792, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1913, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.625}, {"step": 1918, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.625}, {"step": 1921, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.625}, {"step": 1930, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.625}, {"step": 2086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.625}, {"step": 2250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2250, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_block. All conditions satisfied for red_block.", "score": 0.75}, {"step": 2456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2458, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine_01' nudged 0.062m", "score": 0.75}, {"step": 2474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2645, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3015, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2c3a8abbc05a17a3fdb48504b4a3bacb3d677b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 3268, "events": [{"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 684, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 841, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 844, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 845, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 846, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 848, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 851, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 852, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 864, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 998, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 999, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.278m", "score": 0.16666666666666666}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1437, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_2, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_2. All conditions satisfied for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1616, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.3333333333333333}, {"step": 1809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1809, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.3333333333333333}, {"step": 1949, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.3333333333333333}, {"step": 1953, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_block' displaced 0.519m", "score": 0.3333333333333333}, {"step": 2246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 2365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2365, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2901, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 3072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.875}, {"step": 3257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.875}, {"step": 3257, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.875}, {"step": 3266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.875}, {"step": 3267, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 1.0}, {"step": 3267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3267, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 3268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3734a9deec1296104f4b592816540bc066b6ac1a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 3072, "events": [{"step": 342, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.16666666666666666}, {"step": 662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.16666666666666666}, {"step": 1146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.16666666666666666}, {"step": 1296, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.16666666666666666}, {"step": 1298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.373m", "score": 0.16666666666666666}, {"step": 1424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.16666666666666666}, {"step": 1516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1669, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1906, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.3333333333333333}, {"step": 1906, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.3333333333333333}, {"step": 1932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2041, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.3333333333333333}, {"step": 2043, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.169m", "score": 0.3333333333333333}, {"step": 2231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 2349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2349, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 2350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 2357, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2357, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.75}, {"step": 2359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'green_block', 'yellow_block', 'blue_block'])", "score": 0.75}, {"step": 2371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2756, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 3072, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3072, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f355c08a72fd510036d45176e2b58f4293ce0a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CubesAndBlocksInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 2734, "events": [{"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 502, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.0}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 712, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.462m", "score": 0.0}, {"step": 864, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_1). advanced 1 step(s) to step 1 for rubiks_cube_1.", "score": 0.0}, {"step": 1024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1024, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube_1, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_1. All conditions satisfied for rubiks_cube_1.", "score": 0.16666666666666666}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.16666666666666666}, {"step": 1213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube', 'rubiks_cube_2', 'rubiks_cube_1'])", "score": 0.16666666666666666}, {"step": 1213, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.16666666666666666}, {"step": 1341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.374m", "score": 0.16666666666666666}, {"step": 1343, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.16666666666666666}, {"step": 1345, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.054m", "score": 0.16666666666666666}, {"step": 1348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.16666666666666666}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. All conditions satisfied for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 1935, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.75}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_block. All conditions satisfied for red_block.success: object_in_container(object=blue_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_block. All conditions satisfied for blue_block.", "score": 0.75}, {"step": 1945, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.061m", "score": 0.75}, {"step": 2128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.75}, {"step": 2203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.75}, {"step": 2358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.875}, {"step": 2358, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.875}, {"step": 2358, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_block, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_block. All conditions satisfied for green_block.", "score": 0.875}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.875}, {"step": 2734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2734, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b7c236c7956248991eb256889e548b194eb25788
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/CubesAndBlocksInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f9c1a2ded10e4904bcf5aad8b3e1a451b8a2c3b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_0_env0.json
@@ -0,0 +1 @@
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object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 2173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 2212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 2399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 2400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2400, 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c39fc8ce1921af1785872090703d6ace19e1ee
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 1829, "events": [{"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 514, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 959, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1133, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. All conditions satisfied for spam_can.", "score": 0.6666666666666666}, {"step": 1149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 1423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 1430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 1431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 1434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1829, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7f360c18b0d290265c3b198b8d03470d7e95a1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 2, "success": true, "final_step": 2339, "events": [{"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "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=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 859, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'chocolate_pudding'", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1111, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 1304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 1547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.3333333333333333}, {"step": 1702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.3333333333333333}, {"step": 1903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1903, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. All conditions satisfied for spam_can.", "score": 0.6666666666666666}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1918, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 2339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2339, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7f32220352526104072eecaaf6106b001d8d4b7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 3, "success": true, "final_step": 1695, "events": [{"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 571, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. All conditions satisfied for spam_can.", "score": 0.3333333333333333}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.123m", "score": 0.3333333333333333}, {"step": 778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 792, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 874, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 874, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1255, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.6666666666666666}, {"step": 1272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 1695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1695, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c22e69f0839f712d57df31edd8432a2eec3fad
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 4, "success": true, "final_step": 3164, "events": [{"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 763, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 764, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1327, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.255m", "score": 0.3333333333333333}, {"step": 1663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 1708, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1708, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.3333333333333333}, {"step": 1713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.3333333333333333}, {"step": 2027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.3333333333333333}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 2173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.3333333333333333}, {"step": 2174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.3333333333333333}, {"step": 2844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2844, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tuna_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tuna_can. All conditions satisfied for tuna_can.", "score": 0.6666666666666666}, {"step": 3021, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.6666666666666666}, {"step": 3146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.6666666666666666}, {"step": 3149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.6666666666666666}, {"step": 3150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.6666666666666666}, {"step": 3156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.6666666666666666}, {"step": 3158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 3164, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..202ee0ce7ab91b51828bb149e04feae5425c49a6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 5, "success": true, "final_step": 1818, "events": [{"step": 257, "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=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 711, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 841, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'chocolate_pudding'", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 939, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 940, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 979, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 989, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=tuna_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for tuna_can. All conditions satisfied for tuna_can.", "score": 0.3333333333333333}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1323, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.6666666666666666}, {"step": 1355, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.6666666666666666}, {"step": 1804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['tomato_soup_can', 'spam_can', 'tuna_can'])", "score": 0.6666666666666666}, {"step": 1804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.6666666666666666}, {"step": 1804, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1818, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1818, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e7fde7ddfca7ce95343e9347cfcee93b4667569
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 491, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. All conditions satisfied for spam_can.", "score": 0.3333333333333333}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 503, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.127m", "score": 0.3333333333333333}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 956, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 961, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1426, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.6666666666666666}, {"step": 1538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1836, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cheez_it'", "score": 0.6666666666666666}, {"step": 1843, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.079m", "score": 0.6666666666666666}, {"step": 1861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.096m", "score": 0.6666666666666666}, {"step": 1868, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.051m", "score": 0.6666666666666666}, {"step": 2000, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cheez_it' (target objects: ['tomato_soup_can', 'spam_can', 'tuna_can'])", "score": 0.6666666666666666}, {"step": 2046, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.221m", "score": 0.6666666666666666}, {"step": 2086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cheez_it'", "score": 0.6666666666666666}, {"step": 2148, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.167m", "score": 0.6666666666666666}, {"step": 2288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.059m", "score": 0.6666666666666666}, {"step": 2347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.083m", "score": 0.6666666666666666}, {"step": 2513, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'cheez_it' displaced 0.589m", "score": 0.6666666666666666}, {"step": 2547, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.103m", "score": 0.6666666666666666}, {"step": 2566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.132m", "score": 0.6666666666666666}, {"step": 2576, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.061m", "score": 0.6666666666666666}, {"step": 2691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.342m", "score": 0.6666666666666666}, {"step": 2717, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.072m", "score": 0.6666666666666666}, {"step": 2746, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.401m", "score": 0.6666666666666666}, {"step": 3001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3012, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3015, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3088, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 3450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e61f032b15e0e3469f90984fda9f19c2eb0ee5e6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 7, "success": true, "final_step": 2483, "events": [{"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 550, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. All conditions satisfied for spam_can.", "score": 0.3333333333333333}, {"step": 551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 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step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 917, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully 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"score": 0.3333333333333333}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.3333333333333333}, {"step": 1824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1824, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.6666666666666666}, {"step": 1826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2059, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 2483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2483, "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/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..24441cc66062d6819936068b3068009854ac8d9e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking3CansTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spam_can). regressing to step 0 for spam_can.", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spam_can). advanced 1 step(s) to step 1 for spam_can.", "score": 0.0}, {"step": 596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 607, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spam_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spam_can. 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0.6666666666666666}, {"step": 1619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.055m", "score": 0.6666666666666666}, {"step": 1645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.056m", "score": 0.6666666666666666}, {"step": 1646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.115m", "score": 0.6666666666666666}, {"step": 1664, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'chocolate_pudding' nudged 0.078m", "score": 0.6666666666666666}, {"step": 1665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.101m", "score": 0.6666666666666666}, {"step": 1670, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.220m", "score": 0.6666666666666666}, {"step": 1684, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.306m", "score": 0.6666666666666666}, {"step": 1690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.241m", "score": 0.6666666666666666}, {"step": 2207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2965, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.076m", "score": 0.6666666666666666}, {"step": 3074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3203, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.6666666666666666}, {"step": 3203, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 3216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.6666666666666666}, {"step": 3227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.6666666666666666}, {"step": 3228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 3228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to 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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FoodPacking3CansTask/log_9_env0.json
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\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4948635d23bc888b1e2589987a950f45f65457
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 0, "success": true, "final_step": 518, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.076m", "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=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1780c20a48ef9ff6073ef9181400abdd595ced
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 1, "success": true, "final_step": 670, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 245, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 364, "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": 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=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 386, "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": 417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 526, "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": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 530, "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": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 662, "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": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..742cebcf8b568921e444810c1a316656c1b15ec1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 2, "success": true, "final_step": 625, "events": [{"step": 14, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.190m", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 171, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 171, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.096m", "score": 0.0}, {"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.081m", "score": 0.0}, {"step": 416, "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": 539, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 539, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 539, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 540, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 547, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.054m", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 625, "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/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..554f2bb615166d4948cff602ca9b5026617c341b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.156m", "score": 0.0}, {"step": 304, "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": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 339, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01'", "score": 0.0}, {"step": 345, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 345, "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": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 370, "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": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "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": 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=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 377, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 377, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lime01'", "score": 0.0}, {"step": 377, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.0}, {"step": 379, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 379, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lime01_01'", "score": 0.0}, {"step": 384, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 2.194m", "score": 0.0}, {"step": 390, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'clay_plates'", "score": 0.0}, {"step": 395, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 3.871m", "score": 0.0}, {"step": 407, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 5.017m", "score": 0.0}, {"step": 409, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'clay_plates' displaced 1.176m", "score": 0.0}, {"step": 412, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lime01_01' displaced 8.170m", "score": 0.0}, {"step": 426, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lime01' displaced 9.771m", "score": 0.0}, {"step": 694, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 810, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 823, "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": 830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 850, "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": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 864, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 892, "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}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..027c92910b898296422cb327d4bf93f66f66d93a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.0}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.121m", "score": 0.0}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.120m", "score": 0.0}, {"step": 372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.074m", "score": 0.0}, {"step": 438, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 480, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.072m", "score": 0.0}, {"step": 580, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 605, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 638, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.137m", "score": 0.0}, {"step": 673, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.124m", "score": 0.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.064m", "score": 0.0}, {"step": 763, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..199f69d2b07452b45d62ca3baf63967f227ee95b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 5, "success": true, "final_step": 640, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.142m", "score": 0.0}, {"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.096m", "score": 0.0}, {"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01'", "score": 0.0}, {"step": 260, "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": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 338, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 428, "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": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 640, "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/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..afde59442b531e6d25b201ec069e06c4121e3fd3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 6, "success": true, "final_step": 607, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.126m", "score": 0.0}, {"step": 16, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.116m", "score": 0.0}, {"step": 26, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 33, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.710m", "score": 0.0}, {"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01'", "score": 0.0}, {"step": 294, "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": 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=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 308, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 308, "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": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 319, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 320, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 322, "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": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "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": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 606, "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/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e59a8e7c96d8dffd53334c7815f70ae777f2b9ae
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 7, "success": true, "final_step": 762, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.218m", "score": 0.0}, {"step": 381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 381, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 403, "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=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 512, "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": 513, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 587, "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": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 760, "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/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab46ccb17ad3185df1d8dbb63d48cad44ba3666
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.097m", "score": 0.0}, {"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.155m", "score": 0.0}, {"step": 424, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 582, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.0}, {"step": 656, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.168m", "score": 0.0}, {"step": 677, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.133m", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_01', 'orange_02'])", "score": 0.0}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.088m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c625574a2535d2d26ede2b6e1fdd36dfa99cc9bf
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/FruitsMovingTask/log_9_env0.json
@@ -0,0 +1 @@
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"vague": "Put the larger object away", "specific": "Compare the objects and put the larger raisin box in the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e37a9d71321ddbf10a74804169936680adc94de
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f284f7169cae4e5090da3709c064b8a31d66b06
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae00ccc55c5d51149abbaa42de0ecc559173c3ce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1237a6ebdcce508ab1d2a68f53730a40e4a4d5d3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 389, "events": [{"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 389, "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/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..664195d77ba97bbd165682c761ecb3920d497218
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 362, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "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=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 362, "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/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a5fa89da5cc569fcfb59803d3a4c5089e0347a5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 349, "events": [{"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "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=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 349, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e85265e559725959024d2d337ea3fc5ca1fc25
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 450, "events": [{"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 201, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 384, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 446, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8242dc9944bc864c0fcaab553a1296482ad1874
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 450, "events": [{"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "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=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae6a1b8a29f281d3c26392eb02459e910e50742
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 320, "events": [{"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 320, "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/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2789cd0c6f7935f3de381b3586d65831bd9fd17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/LargerObjectRaisinBoxInBinTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebf1bc0b39789fa6382917a026d7f88e5c828ae
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 318, "events": [{"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 318, "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/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..042b1e27e60aab71938c9ac3b8ba51bf631628a8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 432, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 432, "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/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a69135ddb203c5ae5944b3ed138829733d3503
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7beb171fc73f6fdd2561da0ab668bb512e2ad937
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 450, "events": [{"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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"code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db0ba5312b77e7a4018f461b3a39688b8461fa9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 406, "events": [{"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 221, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 406, "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/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ce7db6920a220418df7ecac0a7cb27d219eb328
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 450, "events": [{"step": 81, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..843e1a9a5ee85468b3e389dc0e94bdb3a5c17f6b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 450, "events": [{"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2826b32ad56e0fab7d90478125c34af4c7c8f82e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 450, "events": [{"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 269, "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 443, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 443, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c605c9c812e8e6ac31f197f67f551d72a5760d8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 450, "events": [{"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 437, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 444, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_left' nudged 0.053m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccea1725a62daeec246b1bac64e0dcbf6259a8b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/MustardInLeftBinTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_0_env0.json
new file mode 100644
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+++ b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_1_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_2_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_3_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_4_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_5_env0.json
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@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_6_env0.json
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickGlassesTask/log_9_env0.json
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"contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the green vegetable block", "contact_object_list": ["frozen_vegetable_block", "blackandbrassbowl_large", "screwtoppail_a01", "utilityjug_a02", "table"], "_instruction_variants": {"default": "Pick up the green vegetable block", "vague": "Pick up the green object", "specific": "Identify the green vegetable block on the table and lift it off the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fc19464614ffa413814a8af69f2c8b0a71cfda
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 284, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 292, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 293, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 437, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d3e34b44c3eeabaf4df48eb7926f743f60f69cb
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 172, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 175, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 375, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 379, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 422, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..68cd924b861a6363b1955b1ad89793917da45072
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 351, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 424, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 426, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 427, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 428, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 429, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4eacd9dff5edec74dad0f67783017f86636388
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_3_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/PickUpGreenObjectTask/log_5_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d48703434d7089a19a8c4b7fd01c059637f47c2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 361, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 174, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 264, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 326, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.303m", "score": 0.6666666666666666}, {"step": 337, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea660346c419552afcf044eabb187b5e7361663d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 279, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.117m", "score": 0.6666666666666666}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.233m", "score": 0.6666666666666666}, {"step": 238, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef979935df560680e735f5c4de6403d8bc7aaad
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 232, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 120, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 122, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 124, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 135, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 162, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.119m", "score": 0.6666666666666666}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.221m", "score": 0.6666666666666666}, {"step": 210, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..977e16ab85e341e2d21d56c31ef8199f0caeb21d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 376, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 128, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 257, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.6666666666666666}, {"step": 348, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.227m", "score": 0.6666666666666666}, {"step": 353, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..013ceb92ec272686d7285e7815e3fb2015fdc263
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 316, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 168, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 210, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.087m", "score": 0.6666666666666666}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.214m", "score": 0.6666666666666666}, {"step": 294, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..992ca19a500c0f29c5c6ecdbc9256a55dc44336a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 232, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.079m", "score": 0.6666666666666666}, {"step": 191, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.237m", "score": 0.6666666666666666}, {"step": 205, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..babfe8dec95a63acf3e90643d0d12669e80810aa
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 345, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 167, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 218, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.6666666666666666}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.226m", "score": 0.6666666666666666}, {"step": 318, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 345, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c98b8b536a61387fcec507a19e69ede91b122f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 291, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.270m", "score": 0.6666666666666666}, {"step": 266, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..370bf7267e4b1884c38c4ff3fc490209d55764ab
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 8, "success": true, "final_step": 298, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 165, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 167, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 250, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.274m", "score": 0.6666666666666666}, {"step": 262, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..32446b8bb6c4646135e8c6c729ecc681a43c3d19
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 9, "success": true, "final_step": 305, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 97, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.3333333333333333}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.279m", "score": 0.6666666666666666}, {"step": 281, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_0_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..884429332465fe5a19a5f3e871f8223ee475a393
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 211, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.080m", "score": 0.6666666666666666}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.068m", "score": 0.6666666666666666}, {"step": 358, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.209m", "score": 0.6666666666666666}, {"step": 411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_1_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb690230b559d8230022432ef142ce8dd26f8735
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 166, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.063m", "score": 0.6666666666666666}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.070m", "score": 0.6666666666666666}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.270m", "score": 0.6666666666666666}, {"step": 419, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.060m", "score": 0.6666666666666666}, {"step": 431, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 437, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.112m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_2_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e4a36b9b01180943d1c32359f1956cc529d697
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 419, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.137m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_3_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f064a5747b7733d20f714a2430e82fb88f1f1a05
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_3_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_4_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39785aa2fc99ea863dca4db5c2652f447b0feff
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_5_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_5_env0.json
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index 0000000000000000000000000000000000000000..90b23a9603d2ea142a51d934aebd8fcf61c8e1bc
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@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_6_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_6_env0.json
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--- /dev/null
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_7_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_7_env0.json
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index 0000000000000000000000000000000000000000..86bbc753dbdcaeebc81fa091e2030392def279ac
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_7_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_8_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_8_env0.json
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index 0000000000000000000000000000000000000000..c630335dc934c63b83df7b421e09ee598715b3c9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_9_env0.json b/full_task_1x/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_9_env0.json
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+{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7491145478723706, "joint_sparc_mean": -5.289278252298326, "ee_isj": 353.9977357753483, "joint_isj": 19524.71168163918, "ee_path_length": 3.7792735286959096, "joint_rmse_mean": 0.9544667357051553, "ee_speed_max": 0.23195397853851318, "ee_speed_mean": 0.06155933067202568}, "events": {"OBJECT_BUMPED": 5, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 3, "GRIPPER_FULLY_CLOSED": 4, "wrong_objects_grabbed": ["pumpkinsmall", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 721.48, "policy_inference_avg_ms": 801.6, "env_step_s": 724.919, "env_step_avg_ms": 805.5, "video_write_s": 7.685, "video_write_avg_ms": 8.5, "wall_total_s": 1454.084, "it_per_sec": 0.62}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ec81ea5c9c2d9e50c57de93c0cc9f909cce631
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 114, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.082m", "score": 0.0}, {"step": 236, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3b353db1b201299df16a686f79feda1c4e4dba
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 0, "run": 1, "success": false, "final_step": 300, "events": [{"step": 145, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.074m", "score": 0.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.141m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..06df915aa1487fdbcf182d1e9d10457df5a0bea0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 0, "run": 2, "success": true, "final_step": 243, "events": [{"step": 123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 123, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 193, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 219, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 241, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.283m", "score": 0.0}, {"step": 243, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_left_on_right' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ddbe619c7bcf912b397ddbb8cd3d755b65d58d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 0, "run": 3, "success": true, "final_step": 251, "events": [{"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 145, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 208, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.225m", "score": 0.0}, {"step": 251, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_left_on_right' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5c9da99ee60bed4a8cf654d28a5566f6ef8d21
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_5_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_6_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/BowlStackingLeftOnRightTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..326699fdf8decc8c9549feb46f874e17cccb6765
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 720, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 867, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 875, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 889, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a2b192bdef28b30b8a1931f095ec8f45dcf50
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 870, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.114m", "score": 0.0}, {"step": 876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.165m", "score": 0.0}, {"step": 877, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.365m", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 900, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2706824a3b0d85dfe30b54a22dbb2cd37c96a67c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 850, "events": [{"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 850, "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/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cef8811ac41f89deae116e6c71a309efca80784
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 266, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['coffee_pot'])", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 898, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.108m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9261692299f2508a076abdc5e2d6f6715af49609
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3357b4b0e769f86ef87becce8fee1e50fd2710
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 796, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['coffee_pot'])", "score": 0.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 796, "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/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e22ced68a08c039fcf7760c6e78fd3a6ecf17df
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 812, "events": [{"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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": 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5469414d169f1f0dc80b16347baca3df3121a6e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json
@@ -0,0 +1 @@
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to step 0 for coffee_pot.", "score": 0.0}, {"step": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf4447ed80f876df10a6234b6a0eda3f84513ed
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 429, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['coffee_pot'])", "score": 0.0}, {"step": 433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.082m", "score": 0.0}, {"step": 489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.078m", "score": 0.0}, {"step": 563, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.389m", "score": 0.0}, {"step": 595, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.063m", "score": 0.0}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..02e7e12eb15df96da4755b2e5690893c511f544d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-44-09_harness/CoffeePotInBinTask/run_0.hdf5
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"simple"], "_task_attributes": ["spatial", "vague", "color", "simple"], "_task_name": "CookingPickPastaToolTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Move the pink tool from this utensil container to the other utensil holder", "contact_object_list": ["table", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box", "tomato_sauce_can", "measuring_cups_1", "pink_spaghetti_spoon", "spoon_1", "green_serving_spoon", "storage_box_01", "ladle", "wooden_bowl", "potato_masher"], "_instruction_variants": {"default": "Move the pink tool from this utensil container to the other utensil holder", "vague": "Move the pink tool over to the other container", "specific": "Remove the pink pasta tool from its current utensil container and place it in the other utensil holder"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa369c47faee63abaa63d2b9a1eec76960bff1f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 175, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 631, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 826, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5087bc8f864b564a25f9e7418d2005cd5f3f341
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 295, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 488, "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": 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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..163dd548d9c491206b8878b867087fc3e2de282d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 276, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 330, "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=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 436, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 438, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 439, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0b78f74cf9ae958462f220ac49246b409afbefd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.072m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.064m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.060m", "score": 0.0}, {"step": 311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.092m", "score": 0.0}, {"step": 414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.269m", "score": 0.0}, {"step": 414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.092m", "score": 0.0}, {"step": 469, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 553, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wooden_spoons'", "score": 0.0}, {"step": 554, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wooden_spoons' displaced 0.683m", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.080m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_1' nudged 0.069m", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.081m", "score": 0.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box_01' nudged 0.099m", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.105m", "score": 0.0}, {"step": 745, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.248m", "score": 0.0}, {"step": 747, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.115m", "score": 0.0}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 866, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4703470555d865efb0997167fc20e6c07ba5c89f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 127, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 158, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 158, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 642, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'measuring_cups_1'", "score": 0.0}, {"step": 651, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cups_1' displaced 0.807m", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_serving_spoon' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 890, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_serving_spoon'", "score": 0.0}, {"step": 892, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_serving_spoon'", "score": 0.0}, {"step": 894, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee1e5b448004a6168cf72a48661f9bbffbcda98
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingPickPastaToolTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 293, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 389, "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=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 780, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.185m", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 864, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ec4d13bba33c16ba42fa4c076de0195b21eada
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_7_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/CookingPickPastaToolTask/log_9_env0.json
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\ No newline at end of file
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"isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["smartphone", "remote_control", "computer_mouse", "keyboard"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"smartphone": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='smartphone', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "remote_control": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='remote_control')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='remote_control', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "computer_mouse": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='computer_mouse')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='computer_mouse', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "keyboard": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='keyboard')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='keyboard', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "complex"], "_task_attributes": ["semantics", "sorting", "complex"], "_task_name": "ElectronicsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the electronic devices in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the electronic devices in the grey bin", "vague": "Put the gadgets away", "specific": "Identify every electronic device on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b6400c9de8e4cb681946da04559d9a3c57633b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 1861, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 365, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.25}, {"step": 382, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 632, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.5}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 916, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1061, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.75}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1861, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6eb626a9ff1f2f284d9b20d9872da079c7bfcc2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1475, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 283, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 680, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.5}, {"step": 851, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1156, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.75}, {"step": 1157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 1308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 1309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 1334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 1387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1475, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e319c88da81b4c9d72581680d4f35502ad3bef9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 2687, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1014, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1020, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1020, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 1028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1069, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.054m", "score": 0.25}, {"step": 1197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1249, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1299, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 1338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1702, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 1773, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.5}, {"step": 1938, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1975, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 2145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 2187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 2278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2429, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.75}, {"step": 2617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2687, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7a89ab9aeb849ce1d78ded00265a1d199a7015
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 354, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.25}, {"step": 363, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.096m", "score": 0.25}, {"step": 602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.133m", "score": 0.25}, {"step": 748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 877, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yogurt_cup' displaced 0.610m", "score": 0.25}, {"step": 912, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 963, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.067m", "score": 0.25}, {"step": 983, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.138m", "score": 0.25}, {"step": 996, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1101, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.194m", "score": 0.25}, {"step": 1114, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.057m", "score": 0.25}, {"step": 1142, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 1201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.253m", "score": 0.25}, {"step": 1233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.193m", "score": 0.25}, {"step": 1276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.100m", "score": 0.25}, {"step": 1387, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yogurt_cup' displaced 0.728m", "score": 0.25}, {"step": 1419, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.088m", "score": 0.25}, {"step": 1476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.423m", "score": 0.25}, {"step": 1531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.309m", "score": 0.25}, {"step": 1656, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 1669, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1784, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 1784, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.327m", "score": 0.25}, {"step": 1809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 1816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.144m", "score": 0.25}, {"step": 1887, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.218m", "score": 0.25}, {"step": 1929, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 1947, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.237m", "score": 0.25}, {"step": 2072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2274, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.5}, {"step": 2276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 2527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 2588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 2617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 2618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa043f3ab341b6124752cae43ac1188dd36a5ea8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 399, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.25}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 638, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.25}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 682, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 685, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 881, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.5}, {"step": 978, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1937, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 2046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 2089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 2091, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 2146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 2325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2325, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.75}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 2573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 2580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 2598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 2603, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2622, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.057m", "score": 0.75}, {"step": 2622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.75}, {"step": 2636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.75}, {"step": 2641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2642, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.75}, {"step": 2643, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.75}, {"step": 2672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..47958283a972683365774df152553aa18ef605d9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 2040, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1003, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1003, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1005, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1005, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1005, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 1394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1503, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.5}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1752, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.75}, {"step": 1901, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 1928, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.75}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2040, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03e877509b03ead50e4f7cbc50aee7ce36fcd86
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 641, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.5}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 936, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.5}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 948, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 1032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 1056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 1175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 1194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 1196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 1198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 1297, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 1492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1492, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.75}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1928, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1928, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1991, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2073, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce4ef1f44d7487ee7eb683b37de59dee5f879623
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 2254, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 429, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.25}, {"step": 1009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1009, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.25}, {"step": 1193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.25}, {"step": 1226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.25}, {"step": 1231, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.25}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 1355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1355, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.5}, {"step": 1360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1731, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.75}, {"step": 1853, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 1968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2254, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f371e3022d23fe9e2c59a7e8b12d921fe2d58b16
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.25}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.25}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 536, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.5}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.5}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.5}, {"step": 860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 898, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.75}, {"step": 922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1221, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 1960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 1961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.75}, {"step": 2284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.75}, {"step": 2341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.051m", "score": 0.75}, {"step": 2352, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.75}, {"step": 2396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.75}, {"step": 2501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2510, "code": 256, "name": 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139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..626c20a17d62bbda047bcd06adc9f4c5efc59d1e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ElectronicsInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 2501, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.25}, {"step": 424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.25}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.25}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 681, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.5}, {"step": 929, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1499, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1602, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.5}, {"step": 1602, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1602, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1604, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 1609, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.5}, {"step": 1611, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 1614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.5}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.5}, {"step": 1633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 1890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 1892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 1904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.5}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.5}, {"step": 1964, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.75}, {"step": 2329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.75}, {"step": 2501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2501, "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/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-44-09_harness/ElectronicsInBinTask/run_0.hdf5
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9942cf67b2ba5a5e62be386674850f0f13f673
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": true, "final_step": 433, "events": [{"step": 219, "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": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 349, "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": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 351, "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": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 353, "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": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 358, "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": 433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 433, "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/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..028e739353cfbc30847d9031ea63149198d7905b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": true, "final_step": 376, "events": [{"step": 189, "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": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 227, "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": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 376, "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/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60b95ef526863050159d4cda381b2a3f39228c7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 259, "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": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 338, "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": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "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": 740, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 740, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6942c5ddae3b0e7ca9ef07d0138d8adf6d12cba
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 3, "success": true, "final_step": 467, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "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": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 340, "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": 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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 352, "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": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 467, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_4_env0.json
new file mode 100644
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_5_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_6_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1BoxesTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81fc77288a03a8295528ef68caa52ae2e4dff997
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 0, "success": true, "final_step": 257, "events": [{"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 257, "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/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf1a38bee38b43b5edfef446bc18cde7155fa06
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 479, "events": [{"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 479, "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/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6112bc6c9073ed560c0cab517a99c7e6e6b03482
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae491a4fb880208ac56658e5a614547ede4c209e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 3, "success": true, "final_step": 324, "events": [{"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16ac97bab21419071199549ad680b9a094d069a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 4, "success": true, "final_step": 424, "events": [{"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ff88c11cf837943874c940df3b9498d0ed3223
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 5, "success": true, "final_step": 687, "events": [{"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 687, "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/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8072bca09ac793913673cf7793adf2013afcfb0a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 6, "success": true, "final_step": 348, "events": [{"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..26fdb0c56bf38286a9f521df521ed92b8659a006
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 531, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c913862471fd6faf408d49f611bb0c06d9fb7d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FoodPacking1CansTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ee4b28661f7d1abfa215ad1ae18ff7389d0509
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 0, "success": true, "final_step": 1486, "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. 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"info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 427, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 1012, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1186, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.6666666666666666}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1486, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0df1a286b05318d55c1b753526448a7386ae90
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 1, "success": true, "final_step": 1502, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 688, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 688, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 785, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.3333333333333333}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.3333333333333333}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 966, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.6666666666666666}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 1200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 1209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 1358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 1502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc2dc8252f81d97e50e9c5b867aa34db54ca3fc5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 2, "success": false, "final_step": 3000, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 791, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 833, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 864, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 1009, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1012, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 1020, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1020, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1045, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1050, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1253, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1287, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1295, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.6666666666666666}, {"step": 1295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.6666666666666666}, {"step": 1396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.257m", "score": 0.6666666666666666}, {"step": 1451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 1464, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b22ffcb75bcb92ae485803fd120ede334be8e9e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 3, "success": true, "final_step": 845, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 552, "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": 0.6666666666666666}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 695, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.6666666666666666}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.6666666666666666}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 845, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66869748e1e5d6b14c0097bbe292b508700cc60
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 4, "success": true, "final_step": 2024, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 627, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.3333333333333333}, {"step": 639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.3333333333333333}, {"step": 778, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.3333333333333333}, {"step": 827, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.3333333333333333}, {"step": 830, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 831, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.3333333333333333}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.211m", "score": 0.3333333333333333}, {"step": 994, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 995, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.3333333333333333}, {"step": 1091, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.105m", "score": 0.3333333333333333}, {"step": 1136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.146m", "score": 0.3333333333333333}, {"step": 1454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1649, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1803, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.6666666666666666}, {"step": 1810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.6666666666666666}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.6666666666666666}, {"step": 2024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2024, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..362d1470d5b422e282f421f8e11908bc8ee8ddc3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 5, "success": true, "final_step": 1726, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 486, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.3333333333333333}, {"step": 488, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.3333333333333333}, {"step": 607, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.230m", "score": 0.3333333333333333}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.3333333333333333}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1141, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.6666666666666666}, {"step": 1376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.212m", "score": 0.6666666666666666}, {"step": 1409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.6666666666666666}, {"step": 1561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.6666666666666666}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1726, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..661d888cb13fb9f269220b350a426efd83f8405a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 6, "success": true, "final_step": 2351, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 529, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 569, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.3333333333333333}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 578, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.3333333333333333}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.3333333333333333}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 1711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1711, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.6666666666666666}, {"step": 1851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.6666666666666666}, {"step": 2006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2006, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 2181, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 1.0}, {"step": 2211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: [])", "score": 1.0}, {"step": 2343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.372m", "score": 1.0}, {"step": 2348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..073b9abbfcef02c51c5163de6585ed131bc5b0ae
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlate3Task", "env_id": 0, "run": 7, "success": true, "final_step": 1182, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.3333333333333333}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.3333333333333333}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.3333333333333333}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.3333333333333333}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.3333333333333333}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_8_env0.json
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--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_9_env0.json
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--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlate3Task/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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"history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 300, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"lemon_01": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='lemon_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='lemon_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lemon_02": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='lemon_02')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='lemon_02', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lime01": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='lime01')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='lime01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "lime01_01": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='lime01_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='lime01_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "orange_01": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='orange_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='orange_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "orange_02": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='orange_02')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='orange_02', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "pomegranate01": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='pomegranate01')", 0.0], ["functools.partial(<function object_on_top at 0x7f0d3db42ac0>, object='pomegranate01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "complex"], "_task_attributes": ["semantics", "vague", "complex"], "_task_name": "FruitsOnPlateTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the fruits on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put all the fruits on the plate", "vague": "Put fruits on the plate", "specific": "Pick up all fruits that are on the table and place them all onto the large round plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..327a02a197af63301b6436258528e1b9dcbb5f77
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 4251, "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": 259, "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": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 264, "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": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"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": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 272, "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": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 285, "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": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 287, "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": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 343, "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": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 353, "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": 375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 376, "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": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 381, "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": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for 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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cb49910a2f3ae52411bd5f74e70942229c197b
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..817743217589f5a101b3dea0bc7b3c554128c7a8
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4a6b3f616bfe4dfc8f88594fbc131a3136937d
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0550215ae70b1aaa79bc23d25f3edf2237d0ec
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41780ce6a7d84a1b47cc47f23318a5d26923838
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcfc0d2296b68420f5565169d423c9cb6dbb8ccd
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..971691c2c7f800f6044dcae29b75727ab1289795
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 7, "success": true, "final_step": 3206, "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": 146, "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": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 177, "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": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 433, "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": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 516, "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": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 670, "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": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 991, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.2857142857142857}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.2857142857142857}, {"step": 1057, "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": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1077, "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": 1079, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1079, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 1080, "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": 1082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1082, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1083, "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": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1102, "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": 0.42857142857142855}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.42857142857142855}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 1341, "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": 0.5714285714285714}, {"step": 1456, "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": 1561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 1561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 1562, "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": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 1882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 1921, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 1927, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 1943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 2022, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 2037, "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": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 2143, "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": 2161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2241, "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": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2276, "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": 2281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 2281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2406, "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": 2431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2447, "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": 2450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2451, "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": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2508, "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": 2571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2664, "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": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2697, "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": 2699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2700, "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": 2701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 2791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.057m", "score": 0.8571428571428571}, {"step": 2863, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.070m", "score": 0.8571428571428571}, {"step": 2865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.105m", "score": 0.8571428571428571}, {"step": 2874, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.087m", "score": 0.8571428571428571}, {"step": 2876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.122m", "score": 0.8571428571428571}, {"step": 3028, "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": 3031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3039, "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": 3057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3058, "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": 3059, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3059, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3060, "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": 3061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 3206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8199e392553da6cd3d1fd982f7da29f1ebcea0a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 8, "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": 414, "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": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 533, "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": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 536, "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": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 724, "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": 739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 805, "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": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 888, "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": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1085, "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": 1099, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 1099, "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": 1115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.14285714285714285}, {"step": 1164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1165, "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": 1190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1232, "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": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1418, "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": 1419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1423, "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": 1425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1429, "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": 1433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1441, "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": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1606, "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": 0.2857142857142857}, {"step": 1893, "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": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 2050, "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": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 2082, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2087, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2097, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2278, "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": 2289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2857142857142857}, {"step": 2290, "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": 2471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"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": 0.42857142857142855}, {"step": 2660, "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": 2694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2809, "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": 2977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2978, "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": 2986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2987, "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": 2988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2989, "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": 0.5714285714285714}, {"step": 3009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3777, "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": 3952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3952, "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": 4092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4241, "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": 0.8571428571428571}, {"step": 4293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4428, "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": 4466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4466, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31920d8cc5671e90f82231775975c429995c637b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 9, "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": 269, "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": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 301, "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": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 305, "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": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 374, "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": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 378, "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": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 425, "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": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 428, "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": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 498, "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": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 501, "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": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 549, "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": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 820, "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": 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=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 822, "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": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 837, "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": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 856, "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": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 887, "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": 1055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1055, "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": 0.2857142857142857}, {"step": 1406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.2857142857142857}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1571, "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": 0.42857142857142855}, {"step": 1717, "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": 1721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1723, "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": 1730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.42857142857142855}, {"step": 1732, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1732, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1863, "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": 1989, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.42857142857142855}, {"step": 1994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1995, "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": 0.5714285714285714}, {"step": 2017, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2111, "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": 2142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2216, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 2217, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5714285714285714}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2246, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 2261, "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": 2262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2416, "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": 2428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2429, "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": 2435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2437, "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": 2438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2441, "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": 2571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2571, "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": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2702, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.7142857142857143}, {"step": 2706, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.7142857142857143}, {"step": 2811, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.299m", "score": 0.7142857142857143}, {"step": 2841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.7142857142857143}, {"step": 2847, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.066m", "score": 0.7142857142857143}, {"step": 2943, "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": 3038, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3039, "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": 3047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.072m", "score": 0.7142857142857143}, {"step": 3311, "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": 3460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3461, "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": 3492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3493, "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": 3494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3587, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.7142857142857143}, {"step": 3650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.7142857142857143}, {"step": 3651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.7142857142857143}, {"step": 3652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.065m", "score": 0.7142857142857143}, {"step": 3982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4123, "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": 4125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4126, "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": 4131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: 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\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae13566f96eed0594653926cf8562c24d8e0b05
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 0, "success": true, "final_step": 594, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 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=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 593, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64228e3bfb8b56dacbd75c97ff82729f2f2ee37
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 1, "success": true, "final_step": 438, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 438, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b976aaecab7023c07f2c0f00e2ab7a403f22753
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 2, "success": true, "final_step": 409, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.147m", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_3_env0.json
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index 0000000000000000000000000000000000000000..e58cd5712ecfe1bbc3ea55114fa6a62058e5fefb
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+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_3_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_4_env0.json
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index 0000000000000000000000000000000000000000..22a209478640e363369be7899b71b8a3cefa7200
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+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_4_env0.json
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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 4, "success": true, "final_step": 712, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.144m", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 391, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 712, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a580b1a747685ccdd69e56059e192220818fe193
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 5, "success": true, "final_step": 354, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 354, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92bf7be30540d2523b5301206d2062c339717e1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..888e0fe1be087774b6a6821b2a1a5c62ef2e6b31
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 7, "success": true, "final_step": 560, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.142m", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 560, "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/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_8_env0.json
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index 0000000000000000000000000000000000000000..246696d9b6dc0213a2ddb6d52c512221f4e17209
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 8, "success": true, "final_step": 374, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.133m", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.153m", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_9_env0.json
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index 0000000000000000000000000000000000000000..72c82663a6b1cc346d1760cced0d91209400def8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/FruitsOnionTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionTask", "env_id": 0, "run": 9, "success": true, "final_step": 381, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.161m", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 163, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 380, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
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mouse on the keyboard", "specific": "Pick up the computer mouse and place it on top of the keyboard"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..815ee246769fc785f046eb97a3147f6d0c1a6b39
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 0, "success": true, "final_step": 746, "events": [{"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 746, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f158ceb1ff2d3b0d48cf37a0ed1dc13a67a93ad8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 1, "success": true, "final_step": 776, "events": [{"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 506, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 776, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..83136cc7b4c71180293f03e995ad251a2afa4b40
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.061m", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 629, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 638, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 714, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c1055df75004c5a67ba9974fee9434b0f452ed
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 3, "success": true, "final_step": 776, "events": [{"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 776, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bea85c077df9a279bfed6512f44b5bfa7e4ce0f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 4, "success": true, "final_step": 526, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 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=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 526, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfc0f3fccfcb631fad396c92f33ad4a355a2aa8a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 5, "success": true, "final_step": 651, "events": [{"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.252m", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 651, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..134f31755c92d86bbcfdf62e80c34adb09a33e7e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 6, "success": true, "final_step": 862, "events": [{"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 554, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 679, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.188m", "score": 0.0}, {"step": 684, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.135m", "score": 0.0}, {"step": 767, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 862, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a05f5e2ede9d2c7e8f75765ad41a78749d616ad
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 7, "success": true, "final_step": 757, "events": [{"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 757, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..217e8e40395cb03105dfc980a7ffe5541929668d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MouseOnKeyboardTask", "env_id": 0, "run": 8, "success": true, "final_step": 598, "events": [{"step": 198, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse'])", "score": 0.0}, {"step": 270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.080m", "score": 0.0}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.0}, {"step": 473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 598, "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/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ce980a99739dc9eefd2d58a0f445e0e14a4a58
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/MouseOnKeyboardTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ecf9fafe3c6261dfb50fa21c069519ac4d44de
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 386, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 456, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.157m", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "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=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 649, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 649, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 649, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['serving_bowl'])", "score": 0.0}, {"step": 659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 688, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 694, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.208m", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30c6309908ac3d2096f7b130c1e6b80ee2f7dfc
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 79, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 83, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.402m", "score": 0.0}, {"step": 181, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 185, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 0.0}, {"step": 188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.111m", "score": 0.0}, {"step": 206, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.694m", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.072m", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.107m", "score": 0.0}, {"step": 488, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.057m", "score": 0.0}, {"step": 506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.185m", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.112m", "score": 0.0}, {"step": 550, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 552, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.829m", "score": 0.0}, {"step": 578, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.278m", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.078m", "score": 0.0}, {"step": 657, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.190m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.063m", "score": 0.0}, {"step": 754, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.336m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..60879225fe50d116c11588f1f04410e7cf93326c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 165, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.080m", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 695, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 773, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 826, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 831, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4b21ae87306af57adf7df7cb4e7dfcc309fd997
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 16, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 56, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 62, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.422m", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.119m", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 581, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 781, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f8a323a1077dfe0b0062262c4e6ef8eff55d4b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 4, "success": true, "final_step": 709, "events": [{"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.074m", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a8b1033330fcc9c135c098fc5fd939a99de8d4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 5, "success": true, "final_step": 836, "events": [{"step": 119, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.065m", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 640, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 764, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..608ddca8212269fe435f13472305f6ec81736681
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.079m", "score": 0.0}, {"step": 84, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=serving_bowl). advanced 1 step(s) to step 1 for serving_bowl.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=serving_bowl). regressing to step 0 for serving_bowl.", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e44c706c8247649c2755b92476a50d07739ec8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/PutBowlOnShelfTopTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5985cb1ca4035c71fc9e1a6d95da94bc2c41daf
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 325, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 198, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 229, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 250, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.083m", "score": 0.6666666666666666}, {"step": 285, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.226m", "score": 0.6666666666666666}, {"step": 291, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d1454c0df6b702420a22bae22822f602dfc445
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 156, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.6666666666666666}, {"step": 317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.291m", "score": 0.6666666666666666}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.087m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be834859198c38255e02bd9fb9cc1c43bdadfd8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 405, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 380, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 390, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.211m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..144ae0e64ce025952509dec6d31882b69ea6724f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 282, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 168, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 185, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 213, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.084m", "score": 0.6666666666666666}, {"step": 240, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.219m", "score": 1.0}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..965bf6cb5151d7a1246aee624dd7393827f5efd4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 371, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 165, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 179, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.264m", "score": 0.6666666666666666}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.251m", "score": 0.6666666666666666}, {"step": 340, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c05e585bc1a56a704b3b8cbb9c9e95c2d157c86
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 240, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 145, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 145, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 146, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 158, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.240m", "score": 0.6666666666666666}, {"step": 218, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 240, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e005f552fb693842beca8686424f12a8d75da1c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 260, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 159, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.077m", "score": 0.6666666666666666}, {"step": 232, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 238, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.176m", "score": 1.0}, {"step": 260, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..014e1f88271f12e153436926ac9c1ca8411865d2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 302, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 150, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 172, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.082m", "score": 0.6666666666666666}, {"step": 232, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.218m", "score": 0.6666666666666666}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.352m", "score": 0.6666666666666666}, {"step": 280, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f7669157ad0d6eefb25da495ffe54f0cc73b84
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 8, "success": true, "final_step": 438, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 183, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 227, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 315, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.058m", "score": 0.6666666666666666}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 358, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 421, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.232m", "score": 1.0}, {"step": 429, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 438, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a2fc62f3f6833450a10f0ac252009371ea6c5d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeInFrontOfBowlTask", "env_id": 0, "run": 9, "success": true, "final_step": 311, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 149, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.283m", "score": 0.6666666666666666}, {"step": 289, "code": 134, "name": "OBJECT_IN_FRONT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_in_front_of_bowl' 1/1", "score": 1.0}, {"step": 311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/run_0.hdf5
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index 0000000000000000000000000000000000000000..60df155c1f1953c0bdaf6dbfe6c37b87f35f1476
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+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeInFrontOfBowlTask/run_0.hdf5
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"object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["rubiks_cube", "banana"], "container": "bowl", "logical": "any", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana": [["functools.partial(<function object_grabbed at 0x7f0d3dbbe520>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f0d3db42ca0>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeOrBananaTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube or the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube or the banana in the bowl", "vague": "Choose an object and put it in the bowl", "specific": "Choose either the rubiks cube or the yellow banana and place it inside the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b31a50dc5c542162258b513325263d5b4f6c65
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 324, "events": [{"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 127, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 215, "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": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 324, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d38b1edf3d54ceceb6998140658a6f030408f5d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 278, "events": [{"step": 154, "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": 156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 170, "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": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 278, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8713e7f38d0a861166f8421b833916ad3cce58
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 271, "events": [{"step": 163, "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": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 168, "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": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 271, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e358a4c8c5802b917bdf00e881be3242f22dcb7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 3, "success": true, "final_step": 253, "events": [{"step": 146, "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": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 253, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dcb9931552246ff1dcea5c3842f8d0f0a37cc93
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 4, "success": true, "final_step": 208, "events": [{"step": 90, "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": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 208, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc206d5a55d267ede254d33d9a3b1ab65a684531
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 5, "success": true, "final_step": 250, "events": [{"step": 142, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 145, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 160, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 164, "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": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 250, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5671951d18da467f90a710c3d032b298737d01e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 6, "success": true, "final_step": 260, "events": [{"step": 157, "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": 158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 161, "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": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 167, "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": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 260, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e3462d3c9983bd665fdea13a9ccbb1ec32165d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 7, "success": true, "final_step": 267, "events": [{"step": 166, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 192, "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": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 267, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d624401b2e33f518d6adebeb7544057b9bcd40d5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeOrBananaTask", "env_id": 0, "run": 8, "success": true, "final_step": 322, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 236, "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": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 322, "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/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dd1288b377dce610a1b85506e29b59c2ed8d06
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeOrBananaTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ba3254df3973fc0056cd882161d1b366d557f9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 311, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.477m", "score": 0.6666666666666666}, {"step": 279, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec6fb3e197a249043338f43a1f7bc7cf95f55d9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 267, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 140, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 150, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.412m", "score": 0.6666666666666666}, {"step": 236, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebda935f177a6427fff42c71f1680b15255cbf6e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 268, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 101, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 107, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 109, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 112, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 113, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.324m", "score": 0.6666666666666666}, {"step": 216, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.200m", "score": 0.6666666666666666}, {"step": 236, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.152m", "score": 1.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c36ed6870629e4ead20c2ec172b4baba92af8c1f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 281, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 151, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.408m", "score": 0.6666666666666666}, {"step": 258, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..721596d071ea5a5c517e086f356321304222f833
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 312, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 173, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 187, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.413m", "score": 0.6666666666666666}, {"step": 270, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..704fb532f38bc2dc410cc164cf7872e2e4140251
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 372, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 247, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 250, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.370m", "score": 0.6666666666666666}, {"step": 333, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 367, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..664070d9203e81d7de3fb9aab404ba2e050798db
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 429, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 124, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 125, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 127, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.074m", "score": 0.6666666666666666}, {"step": 294, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.476m", "score": 0.6666666666666666}, {"step": 412, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd9902b4bf71f8c856dd77820b4e7701053ca10f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 320, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 173, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 174, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.475m", "score": 0.6666666666666666}, {"step": 291, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 314, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..21dd24943333548c23ac29f634ce4f7a1cc1cdc0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeRightOfBowlTask", "env_id": 0, "run": 8, "success": true, "final_step": 331, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 171, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 171, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 198, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group2', 'group3', 'group1'])", "score": 0.6666666666666666}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.148m", "score": 0.6666666666666666}, {"step": 281, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.429m", "score": 0.6666666666666666}, {"step": 295, "code": 132, "name": "OBJECT_RIGHT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_right_of_bowl' 1/1", "score": 1.0}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c82426a66cf8b8db7f08bfce28486699d09a59
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/RubiksCubeRightOfBowlTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb6a597d4518d25cafb8694c50a4d11f73f2cfb
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 273, "events": [{"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 273, "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/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86140d6e6c15e024cb2f7e34ac0d399c532850c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}, {"step": 314, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a961431db9db7761bb7263d8d9a3bac3f1c8b44e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 247, "events": [{"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 247, "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/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..04c6464f76573c9927dad8229b0168778a45d449
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 301, "events": [{"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e55221f8eeca11b74be9c757e0e2ab9a5d76b3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_4_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_5_env0.json
new file mode 100644
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+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_5_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_6_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_7_env0.json
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1869cd8439943f7c86c2dbde73e5dd35aa2080
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_9_env0.json
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+++ b/full_task_1x/2026-09-30_14-44-09_harness/SmallerObjectButterInBinTask/log_9_env0.json
@@ -0,0 +1 @@
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["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='red_onion', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "avocado01": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='avocado01')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='avocado01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "complex"], "_task_attributes": ["semantics", "complex"], "_task_name": "ClearOrganicObjectsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Clear away the organic objects", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Clear away the organic objects", "vague": "Put away all the food items", "specific": "Identify every organic fruits and vegetables (lemon, lime, orange, pomegranate, pumpkin, red onion, avocado) on the table and place each into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe9474646ba776ce4838f7611d6e06a487b309d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 138, "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": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 180, "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": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 184, "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": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 217, "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": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": 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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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe9319a96f6e7307cd7f9f46fdb4e6fde66e4cc
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b59bac36ddb42e794d014fee757d43a4b29111f9
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf0b5ec3db1a65ed063430a2d7939c60b8753bb
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3908a2bf71dba7e52c5b17df85edc71f4745d5bd
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8660ff9c729cd2f81812a0cb7c23174c1a700345
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2dab272c9be2dafb70ba96029904e7a05ade9a8
--- /dev/null
+++ b/full_task_1x/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' nudged 0.094m", "score": 0.8181818181818182}, {"step": 3591, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.093m", "score": 0.8181818181818182}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9063db622e350dc3f7ff538b5342fcaec1885161
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 220, "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": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "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": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 286, "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": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "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": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 482, "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": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "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": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_onion). regressing to step 0 for red_onion.", "score": 0.0}, {"step": 847, "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": 1000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1000, "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": 1104, "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": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1111, "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": 1113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1127, "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": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.09090909090909091}, {"step": 1154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.09090909090909091}, {"step": 1230, "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": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.09090909090909091}, {"step": 1249, "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": 1324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1324, "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": 1400, "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": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.18181818181818182}, {"step": 1442, "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": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.18181818181818182}, {"step": 1492, "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": 1518, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.18181818181818182}, {"step": 1622, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.18181818181818182}, {"step": 1703, "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": 1735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 1735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1783, "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": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1897, "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": 1898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1898, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1899, "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": 1900, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1902, "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": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1907, "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": 1908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1909, "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": 1911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1912, "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": 2017, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 2017, "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": 2115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.2727272727272727}, {"step": 2125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 2125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.2727272727272727}, {"step": 2180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.2727272727272727}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2727272727272727}, {"step": 2212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 2212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.2727272727272727}, {"step": 2339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2727272727272727}, {"step": 2358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 2358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2727272727272727}, {"step": 2359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2727272727272727}, {"step": 2465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2465, "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": 0.36363636363636365}, {"step": 2482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2590, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.36363636363636365}, {"step": 2616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.36363636363636365}, {"step": 2708, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2708, "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": 0.45454545454545453}, {"step": 2712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"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": 0.45454545454545453}, {"step": 2968, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2968, "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": 3074, "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": 3096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3148, "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": 3179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 3180, "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": 3194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3216, "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": 3251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 3284, "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": 3292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3305, "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": 3306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3308, "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": 3309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3312, "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": 3357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5454545454545454}, {"step": 3357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 3357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5454545454545454}, {"step": 3436, "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": 0.5454545454545454}, {"step": 3436, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'crabbypenholder'", "score": 0.5454545454545454}, {"step": 3453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5454545454545454}, {"step": 3525, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.670m", "score": 0.5454545454545454}, {"step": 3548, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'crabbypenholder'", "score": 0.5454545454545454}, {"step": 3551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..307a633149a2a67efe644d692066f9b42526a171
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 171, "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": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "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": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 297, "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": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 299, "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": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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": 408, "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": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 419, "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": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 446, "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": 447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 448, "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": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "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": 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=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 509, "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": 510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 517, "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": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 518, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 519, "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": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 679, "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": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 852, "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": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1010, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1010, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1011, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.09090909090909091}, {"step": 1011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1012, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.09090909090909091}, {"step": 1133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.09090909090909091}, {"step": 1281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.09090909090909091}, {"step": 1294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.091m", "score": 0.09090909090909091}, {"step": 1303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.09090909090909091}, {"step": 1337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 1337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.09090909090909091}, {"step": 1397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.09090909090909091}, {"step": 1550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1550, "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": 0.18181818181818182}, {"step": 1663, "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": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.18181818181818182}, {"step": 1750, "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": 1751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1752, "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": 1766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1767, "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": 1869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1869, "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": 1872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.2727272727272727}, {"step": 2102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 2102, "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": 0.36363636363636365}, {"step": 2105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.36363636363636365}, {"step": 2218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.36363636363636365}, {"step": 2341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2341, "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": 0.45454545454545453}, {"step": 2441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2470, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2715, "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": 0.5454545454545454}, {"step": 2809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5454545454545454}, {"step": 2820, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5454545454545454}, {"step": 2820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5454545454545454}, {"step": 2825, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5454545454545454}, {"step": 2929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2929, "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": 0.6363636363636364}, {"step": 3069, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.6363636363636364}, {"step": 3166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3166, "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": 0.7272727272727273}, {"step": 3243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 3400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1ea5efbd0227c05eb4cc3a9f19689baf42aa98
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ClearOrganicObjectsTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClearOrganicObjectsTask", "env_id": 0, "run": 9, "success": false, "final_step": 3600, "events": [{"step": 204, "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": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "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": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 354, "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": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.0}, {"step": 424, "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": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 544, "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": 642, "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": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 645, "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": 648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 650, "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": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 655, "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": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.09090909090909091}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.09090909090909091}, {"step": 659, "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": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 745, "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": 906, "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": 931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 931, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.18181818181818182}, {"step": 932, "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": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.18181818181818182}, {"step": 1018, "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": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1029, "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": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.18181818181818182}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.18181818181818182}, {"step": 1038, "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": 1129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2727272727272727}, {"step": 1129, "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": 1352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2727272727272727}, {"step": 1462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.36363636363636365}, {"step": 1462, "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": 0.36363636363636365}, {"step": 1561, "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": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1661, "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": 1758, "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": 1776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1777, "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": 1782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 1865, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 1932, "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": 1955, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 1956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 1956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2003, "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": 2010, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2010, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2011, "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": 2020, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2020, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2021, "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": 2031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2032, "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": 2039, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2039, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2039, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.45454545454545453}, {"step": 2073, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.45454545454545453}, {"step": 2160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_onion). advanced 1 step(s) to step 1 for red_onion.", "score": 0.45454545454545453}, {"step": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_onion). regressing to step 0 for red_onion.", "score": 0.45454545454545453}, {"step": 2273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['pumpkinlarge', 'lemon_01', 'orange_02', 'red_onion', 'avocado01', 'orange_01', 'lime01_01', 'lime01', 'pomegranate01', 'pumpkinsmall', 'lemon_02'])", "score": 0.45454545454545453}, {"step": 2275, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.45454545454545453}, {"step": 2278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.45454545454545453}, {"step": 2280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['pumpkinlarge', 'lemon_01', 'orange_02', 'red_onion', 'avocado01', 'orange_01', 'lime01_01', 'lime01', 'pomegranate01', 'pumpkinsmall', 'lemon_02'])", "score": 0.45454545454545453}, {"step": 2281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.45454545454545453}, {"step": 2359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.45454545454545453}, {"step": 2586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.45454545454545453}, {"step": 2648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2653, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.45454545454545453}, {"step": 2666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.45454545454545453}, {"step": 2775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5454545454545454}, {"step": 2775, "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": 0.5454545454545454}, {"step": 2870, "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": 2964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 2964, "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": 3001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.6363636363636364}, {"step": 3093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.6363636363636364}, {"step": 3095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.6363636363636364}, {"step": 3096, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6363636363636364}, {"step": 3096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6363636363636364}, {"step": 3096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.6363636363636364}, {"step": 3190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.6363636363636364}, {"step": 3264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3264, "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": 0.7272727272727273}, {"step": 3348, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.7272727272727273}, {"step": 3348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 3379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7272727272727273}, {"step": 3449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7272727272727273}, {"step": 3449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.7272727272727273}, {"step": 3597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8181818181818182}, {"step": 3597, "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": 0.8181818181818182}]}
\ No newline at end of file
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"ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mustard", "ranch_dressing", "bbq_sauce_bottle", "bbq_sauce_bottle_01"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='mustard', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "ranch_dressing": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='ranch_dressing')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='ranch_dressing', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bbq_sauce_bottle": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='bbq_sauce_bottle')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='bbq_sauce_bottle', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bbq_sauce_bottle_01": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='bbq_sauce_bottle_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='bbq_sauce_bottle_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "complex"], "_task_attributes": ["semantics", "sorting", "complex"], "_task_name": "CondimentsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Sort the sauce condiments into the grey bin", "contact_object_list": ["grey_bin", "mug", "mustard", "bowl", "ranch_dressing", "bbq_sauce_bottle", "oatmeal_raisin_cookies", "canned_tuna", "soft_scrub", "wood_block", "coffee_pot", "bbq_sauce_bottle_01", "table"], "_instruction_variants": {"default": "Sort the sauce condiments into the grey bin", "vague": "Put the sauces away", "specific": "Pick up each sauce condiment bottle from the table and place it into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef690a1efd67d07ce6d8a28a6f3f448d1742404
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 670, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 728, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 728, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1125, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1299, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.25}, {"step": 1303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1398, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.062m", "score": 0.25}, {"step": 1464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1763, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1953, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1953, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.5}, {"step": 1956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 2273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.75}, {"step": 2402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.75}, {"step": 2405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.75}, {"step": 2582, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.75}, {"step": 2586, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 1.198m", "score": 0.75}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.074m", "score": 0.75}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.076m", "score": 0.75}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.112m", "score": 0.75}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'canned_tuna' nudged 0.066m", "score": 0.75}, {"step": 2610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.079m", "score": 0.75}, {"step": 2611, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wood_block' nudged 0.137m", "score": 0.75}, {"step": 2621, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'soft_scrub'", "score": 0.75}, {"step": 2626, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'soft_scrub' displaced 0.898m", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1b1aa7302faead14604db713c1d90b40055316
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 964, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 976, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1611, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'soft_scrub'", "score": 0.0}, {"step": 1622, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'soft_scrub' displaced 0.846m", "score": 0.0}, {"step": 1856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1856, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mustard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mustard. All conditions satisfied for mustard.", "score": 0.25}, {"step": 1860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1921, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.131m", "score": 0.25}, {"step": 1953, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 0.530m", "score": 0.25}, {"step": 1953, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.117m", "score": 0.25}, {"step": 1953, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.297m", "score": 0.25}, {"step": 1953, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'canned_tuna' nudged 0.269m", "score": 0.25}, {"step": 1953, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.089m", "score": 0.25}, {"step": 1954, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.104m", "score": 0.25}, {"step": 1989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2020, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wood_block'", "score": 0.25}, {"step": 2021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.070m", "score": 0.25}, {"step": 2021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.071m", "score": 0.25}, {"step": 2023, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.125m", "score": 0.25}, {"step": 2029, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wood_block' displaced 0.780m", "score": 0.25}, {"step": 2069, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.063m", "score": 0.25}, {"step": 2076, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.219m", "score": 0.25}, {"step": 2271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.056m", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b69dcf18954cf0ea554a44c7feeb4b18c92d882
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 548, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1688, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1688, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 1794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1796, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.25}, {"step": 1796, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1902, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1902, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 2164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 2225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 2226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 2227, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.25}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 2244, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.132m", "score": 0.25}, {"step": 2245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.25}, {"step": 2245, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'soft_scrub'", "score": 0.25}, {"step": 2251, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'soft_scrub' displaced 0.874m", "score": 0.25}, {"step": 2342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 2355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 2425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 2432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 2435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 2442, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.25}, {"step": 2449, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 0.615m", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..16356f570c0223120eb3ebb0ee9c3c28da7077f4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 2639, "events": [{"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mustard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mustard. All conditions satisfied for mustard.", "score": 0.25}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1074, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1074, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1664, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.75}, {"step": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 1972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.75}, {"step": 1973, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 2095, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.75}, {"step": 2095, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.75}, {"step": 2148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.75}, {"step": 2353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 2366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.75}, {"step": 2436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 2463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2465, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.75}, {"step": 2553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 2555, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.75}, {"step": 2558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.75}, {"step": 2638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2639, "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/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4e42255db9287f6ad78cb2fedccb06c308ad0de
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 556, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mustard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mustard. All conditions satisfied for mustard.", "score": 0.25}, {"step": 737, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.25}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 963, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1046, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1051, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1051, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1269, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1272, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1488, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1488, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.25}, {"step": 1821, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.25}, {"step": 1849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.25}, {"step": 2006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2006, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 2288, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.5}, {"step": 2439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2439, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.75}, {"step": 2441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..528f3b41ced4a7279eb6f9cad607d0f69e75b77b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 2583, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 507, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mustard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mustard. All conditions satisfied for mustard.", "score": 0.25}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 916, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 935, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 935, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1095, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.5}, {"step": 1099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1531, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.75}, {"step": 1717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 1842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 1962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.75}, {"step": 2583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2583, "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/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18672f14761bfaaf748c3d11b5b0eb58f40ad6d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 474, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 484, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 626, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 769, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.25}, {"step": 769, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 932, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.5}, {"step": 935, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1072, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1072, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 1669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1898, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2019, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2087, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 2541, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.179m", "score": 0.5}, {"step": 2576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.5}, {"step": 2579, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..652f6d11aad7643f2e63b433cb1954b11ebf56e8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 854, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 951, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 951, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1198, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 1198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1212, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1213, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.0}, {"step": 1289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.0}, {"step": 1455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1455, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.25}, {"step": 1462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.25}, {"step": 1808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1808, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 1977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2018, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 2031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2038, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2465, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wood_block'", "score": 0.5}, {"step": 2484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..92258558330dea70daadadc0bd484d937da696b2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.0}, {"step": 291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1061, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1066, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 1721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ranch_dressing, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ranch_dressing. All conditions satisfied for ranch_dressing.", "score": 0.5}, {"step": 2092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 2265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}, {"step": 2553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.5}, {"step": 2554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c085442a0e1a2f44e803f7ef104a4798e6f4510
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CondimentsInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CondimentsInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 808, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.25}, {"step": 909, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 913, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1035, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1178, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.25}, {"step": 1233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1233, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1234, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1235, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['bbq_sauce_bottle', 'mustard', 'bbq_sauce_bottle_01', 'ranch_dressing'])", "score": 0.25}, {"step": 1237, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.25}, {"step": 1237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ranch_dressing). advanced 1 step(s) to step 1 for ranch_dressing.", "score": 0.25}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ranch_dressing). regressing to step 0 for ranch_dressing.", "score": 0.25}, {"step": 1289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 1387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.25}, {"step": 1442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.25}, {"step": 1462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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measuring cup from the plate and place each on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3b15e2066f39c95eae1cfc59cff25d4821581f0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 1026, "events": [{"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "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=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 733, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=spoon_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_1. All conditions satisfied for spoon_1.", "score": 0.5}, {"step": 1002, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.097m", "score": 0.5}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c62391389bb7a91f2dbbed9375e76fa74c8937
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 1, "success": true, "final_step": 1392, "events": [{"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 590, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 699, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 875, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1098, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1392, "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/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..248a0b92bb050081c3fdc46b0a9aa6e557c51d4a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 1331, "events": [{"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 1027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1331, "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/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6477bc5854fe387501e8031688de82a022d9fe
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 3, "success": true, "final_step": 1980, "events": [{"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 741, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 770, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['spoon_1', 'measuring_cups_1'])", "score": 0.0}, {"step": 775, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.0}, {"step": 775, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 907, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 1102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1640, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1718, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['spoon_1', 'measuring_cups_1'])", "score": 0.5}, {"step": 1722, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 1797, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['spoon_1', 'measuring_cups_1'])", "score": 0.5}, {"step": 1801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 1803, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1980, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1980, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9988462fcc45f7037e28936310a4bdeeed843246
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 623, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 913, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 986, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.5}, {"step": 1082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1094, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1094, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1098, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}, {"step": 1390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 1402, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 1.0}, {"step": 1418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.065m", "score": 1.0}, {"step": 1420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.098m", "score": 1.0}, {"step": 1431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.288m", "score": 1.0}, {"step": 1431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.190m", "score": 1.0}, {"step": 1435, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.066m", "score": 1.0}, {"step": 1443, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.297m", "score": 1.0}, {"step": 1446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.254m", "score": 1.0}, {"step": 1446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.061m", "score": 1.0}, {"step": 1446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.315m", "score": 1.0}, {"step": 1447, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.062m", "score": 1.0}, {"step": 1452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.146m", "score": 1.0}, {"step": 1453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.215m", "score": 1.0}, {"step": 1454, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.174m", "score": 1.0}, {"step": 1455, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.121m", "score": 1.0}, {"step": 1455, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.051m", "score": 1.0}, {"step": 1456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.107m", "score": 1.0}, {"step": 1457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.147m", "score": 1.0}, {"step": 1536, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 1.0}, {"step": 1652, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 1.0}, {"step": 1717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 1725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 1849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 1878, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 1950, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 1951, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 1955, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 2015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 2017, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 2022, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 2096, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: [])", "score": 1.0}, {"step": 2165, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 1.0}, {"step": 2298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2492, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'potato_masher'", "score": 1.0}, {"step": 2524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.080m", "score": 1.0}, {"step": 2527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.088m", "score": 1.0}, {"step": 2623, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.070m", "score": 1.0}, {"step": 2630, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 2645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.054m", "score": 1.0}, {"step": 2645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.199m", "score": 1.0}, {"step": 2646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.217m", "score": 1.0}, {"step": 2647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.244m", "score": 1.0}, {"step": 2647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.244m", "score": 1.0}, {"step": 2662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2673, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 1.0}, {"step": 2683, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.094m", "score": 1.0}, {"step": 2696, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.097m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe074bcd5d1425c3d75269a2190430d878fea43
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 5, "success": true, "final_step": 1319, "events": [{"step": 211, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "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=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 446, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 901, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 1100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1319, "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/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76d2f81303f75dbb4d691cd436cf3ab129bb2e1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CookingClearPlateTask", "env_id": 0, "run": 6, "success": true, "final_step": 1060, "events": [{"step": 155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.051m", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cups_1). regressing to step 0 for measuring_cups_1.", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for measuring_cups_1.", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 686, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1.", "score": 0.5}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1.", "score": 0.5}, {"step": 1060, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1060, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_1). regressing to step 0 for spoon_1.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c674e35a49cff9a46d3b8c1c8b7209ca4028b9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/CookingClearPlateTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..140a82ce2ba8fb074bc98d440f4d4d6b78d3c0d1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1081, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.3333333333333333}, {"step": 1261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1640, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1937, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1943, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1943, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 1944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 1970, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1971, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 2109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 2266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['mug_01', 'bowl', 'mug'])", "score": 0.6666666666666666}, {"step": 2266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2266, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6666666666666666}, {"step": 2266, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.6666666666666666}, {"step": 2268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.6666666666666666}, {"step": 2273, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}, {"step": 2397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}, {"step": 2487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}, {"step": 2574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8111d90d8ede7ccb4a4d3f41028acb5f5f4d114
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 577, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.3333333333333333}, {"step": 768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 808, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 946, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1123, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.6666666666666666}, {"step": 1353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 2463, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2479, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.085m", "score": 0.6666666666666666}, {"step": 2484, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.103m", "score": 0.6666666666666666}, {"step": 2484, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.097m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6624f62aa87a27c86cc2c5a4b21379780c94bc
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 1611, "events": [{"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 701, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.3333333333333333}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1191, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.6666666666666666}, {"step": 1230, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6666666666666666}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 1370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 1388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 1392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 1396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 1421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1611, "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/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..031985618b6c6195f22c6cbaaf2541e317f66c61
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 701, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 710, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.093m", "score": 0.0}, {"step": 1001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1001, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.3333333333333333}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1385, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 2172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 2256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 2274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 2383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 2516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2516, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.6666666666666666}, {"step": 2518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2628, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6666666666666666}, {"step": 2638, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..976d756c61170dda53faaba094cfc137cf2972a5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 2106, "events": [{"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 476, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.3333333333333333}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1046, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.6666666666666666}, {"step": 1192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1624, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1644, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.6666666666666666}, {"step": 1658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['bowl', 'mug_01', 'mug'])", "score": 0.6666666666666666}, {"step": 1659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.6666666666666666}, {"step": 1663, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['bowl', 'mug_01', 'mug'])", "score": 0.6666666666666666}, {"step": 1669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.6666666666666666}, {"step": 1670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['bowl', 'mug_01', 'mug'])", "score": 0.6666666666666666}, {"step": 1681, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.6666666666666666}, {"step": 1684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1916, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1945, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2106, "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/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5dd9df70322ae02f128a262c6b7379a24c3073
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 2566, "events": [{"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 606, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.3333333333333333}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1050, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.3333333333333333}, {"step": 1406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.3333333333333333}, {"step": 1407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 1649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 1651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1933, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.6666666666666666}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 2371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 2396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2566, "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/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f70b38bb8e3da635f5039014c88745894735b45
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 432, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.3333333333333333}, {"step": 453, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 1687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1901, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.6666666666666666}, {"step": 2067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}, {"step": 2292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2415, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.6666666666666666}, {"step": 2615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b06278de500c773804558f0e9ec910561cbb010e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 2451, "events": [{"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 623, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1416, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.3333333333333333}, {"step": 1419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug_01', 'mug'])", "score": 0.3333333333333333}, {"step": 1419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.3333333333333333}, {"step": 1448, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.3333333333333333}, {"step": 1734, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1941, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.6666666666666666}, {"step": 2134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 2139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.6666666666666666}, {"step": 2149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.6666666666666666}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2451, "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/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7317fdde72142e0ae33b1616f04e71192bd6e5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 1396, "events": [{"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 422, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.3333333333333333}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.3333333333333333}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.3333333333333333}, {"step": 893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.3333333333333333}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.3333333333333333}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1061, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.6666666666666666}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.6666666666666666}, {"step": 1395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.6666666666666666}, {"step": 1396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d28a73de159a091eb64c2b7482c1abad2799842
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/DishesInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "DishesInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee21d6bc22e4906982e1de39c0068c9506fbf71a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 0, "success": true, "final_step": 1813, "events": [{"step": 445, "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": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 987, "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": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1231, "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": 0.5}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1660, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1660, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef89bd0a3071f6854ba9a18925d72929ab99be9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "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": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 786, "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": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during 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"Gripper fully closed", "score": 0.0}, {"step": 1229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1341, "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": 1343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1344, "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": 1347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1412, "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": 1610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1618, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.093m", "score": 0.0}, {"step": 1621, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.071m", "score": 0.0}, {"step": 1732, "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": 1736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2213, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'tomato_soup_can'", "score": 0.0}, {"step": 2214, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.0}, {"step": 2215, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.0}, {"step": 2216, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'tuna_can'", "score": 0.0}, {"step": 2233, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 2.529m", "score": 0.0}, {"step": 2237, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'tomato_soup_can' displaced 2.525m", "score": 0.0}, {"step": 2238, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 2.718m", "score": 0.0}, {"step": 2242, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'tuna_can' displaced 1.793m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a055eb90afa038d2c9db383b21cd165e014de782
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 696, "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": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 704, "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": 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=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 708, "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": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 711, "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": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "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": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 975, "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": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 987, "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": 1035, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1428, "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": 1470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2195, "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": 2252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 2253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 2466, "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": 2573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 2644, "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": 2674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 2675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f0b413621c8a013c40dbc28bde026de8adc067
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 316, "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": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 724, "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": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1053, "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": 1094, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.151m", "score": 0.0}, {"step": 1098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1098, "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": 0.5}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.5}, {"step": 1101, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.058m", "score": 0.5}, {"step": 1138, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1157, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1264, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.5}, {"step": 1265, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.5}, {"step": 1271, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 2.190m", "score": 0.5}, {"step": 1287, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 2.227m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a656e3f0695122908b79024881425c25c4ec71c5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 801, "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": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1101, "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": 0.5}, {"step": 1110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1764, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 2002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.055m", "score": 0.5}, {"step": 2356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2356, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.109m", "score": 0.5}, {"step": 2392, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2395, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.125m", "score": 0.5}, {"step": 2395, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.112m", "score": 0.5}, {"step": 2396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tuna_can' nudged 0.197m", "score": 0.5}, {"step": 2401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.290m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..87cbe5a19d53474fc2600e22a52577660eebef93
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 273, "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": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 293, "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": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 335, "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": 475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 476, "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": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.5}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 799, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 799, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 949, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 949, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1446, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1733, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 2196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 2358, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ab2c8f804141f89e204ce9f858687f39cb85af
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 253, "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": 307, "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1012, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1261, "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": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1279, "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": 1318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1390, "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": 1396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1739, "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": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 1777, "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": 1834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2051, "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": 2095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2195, "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": 2196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2199, "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": 2203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2315, "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": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2327, "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": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "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": 2650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.0}, {"step": 2652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd0b2c4a2d7e129a0ea2d3b3588f8b1bea67e1b4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 503, "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": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 542, "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": 802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 802, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for cheez_it. All conditions satisfied for cheez_it.", "score": 0.5}, {"step": 830, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.121m", "score": 0.5}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1869, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"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": 0.5}, {"step": 2070, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2070, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 2497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 2612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05888f9b88809a4ac8cb01f17044b4ec3106144c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 401, "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": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 674, "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": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1464, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 1882, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1882, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sugar_box). advanced 1 step(s) to step 1 for sugar_box.", "score": 0.5}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sugar_box). regressing to step 0 for sugar_box.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f9e527ef83c538d8b7980a33d31ac819ee0c31
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2BoxesTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2BoxesTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "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": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 603, "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": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 724, "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": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 996, "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": 1009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1009, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1011, "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": 1131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1660, "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": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1663, "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": 1664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1664, "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": 1728, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1728, "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": 1738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1745, "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": 1747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1747, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1748, "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": 1750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1753, "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": 1754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 1914, "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": 1961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 2030, "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": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": 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"name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FoodPacking2CansTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack canned foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "sugar_box", "tomato_soup_can", "tuna_can", "table"], "_instruction_variants": {"default": "Pack canned foods into the bin", "vague": "Pack cans", "specific": "Pick up each canned food item and place them all inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..effa362b1de94322596bbb6a5c3ff34da24986b6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1025, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1070, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1074, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1074, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1543, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2136, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e5442509bcf22e057cb3b8fa344811cff07bb6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 1704, "events": [{"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1026, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 1325, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3caf459168db941762223164ddcf592f4408c614
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 683, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1016, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1900, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 2078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 2312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42041dae3474032b972a68e0a2ea11acf34577e6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 3, "success": true, "final_step": 1279, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 640, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1279, "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/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d3eb15d00f67e373cfa30679b4f495145cb985
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 4, "success": true, "final_step": 2584, "events": [{"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 693, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 726, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 1466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 1776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1776, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 2033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2584, "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/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b986a30a0a599b919fa4a4d23f4653941ea4924
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 5, "success": true, "final_step": 2199, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 918, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 918, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 923, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1581, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2199, "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/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..badef96c39da17bdd9a15054d0a7a8b724530c67
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking2CansTask", "env_id": 0, "run": 6, "success": true, "final_step": 2412, "events": [{"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for tomato_soup_can. All conditions satisfied for tomato_soup_can.", "score": 0.5}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1050, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 1917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1917, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 1918, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1918, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2061, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tuna_can). regressing to step 0 for tuna_can.", "score": 0.5}, {"step": 2390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tuna_can). advanced 1 step(s) to step 1 for tuna_can.", "score": 0.5}, {"step": 2400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2412, "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/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3266b2a340dfb0d00f677cf3caa13dbaa31a7d51
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_7_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FoodPacking2CansTask/log_9_env0.json
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0x7f4caba12e80>, object='orange_02', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]], "lime01_01": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='lime01_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='lime01_01', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "FruitsMovingOrangeOrLimeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Move an orange or a lime to the wood bowl", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Move an orange or a lime to the wood bowl", "vague": "Put an orange or lime fruit in the wooden bowl", "specific": "Select either an orange or a green lime and place it inside the wooden bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a13056ffe9134d329eda655abf55e285693de0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 0, "success": true, "final_step": 466, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 466, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1febf1ad1a6bbcf05a96f2ee19b3197eb7815413
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 1, "success": true, "final_step": 791, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.0}, {"step": 198, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.094m", "score": 0.0}, {"step": 290, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 329, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.059m", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.058m", "score": 0.0}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.091m", "score": 0.0}, {"step": 434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"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=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 566, "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": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 660, "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": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 791, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0158379cadbc3bda6a00ca2795c71f53ef36efe9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 2, "success": true, "final_step": 572, "events": [{"step": 13, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.141m", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 571, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0467e8df37cb4a63510bad18b575933866b54865
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 3, "success": true, "final_step": 663, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.155m", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 662, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9fbce30012bd19568def564b169312aa63d15bc
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 4, "success": true, "final_step": 667, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.142m", "score": 0.0}, {"step": 15, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.057m", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"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=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 279, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['orange_01', 'lime01_01', 'orange_02', 'lime01'])", "score": 0.0}, {"step": 279, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.0}, {"step": 416, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.356m", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 654, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 655, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: [])", "score": 1.0}, {"step": 655, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 1.0}, {"step": 666, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e9e97ab317bf4750b3adf262cdb0c0470fbbff
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 5, "success": true, "final_step": 601, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_02). advanced 1 step(s) to step 1 for orange_02.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_02). regressing to step 0 for orange_02.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 601, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3895cb06a515a15c0aaebae7c4005604e015e0d4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsMovingOrangeOrLimeTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.150m", "score": 0.0}, {"step": 223, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 349, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 349, "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": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 366, "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": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 383, "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": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 395, "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": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.0}, {"step": 402, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.117m", "score": 0.0}, {"step": 407, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.105m", "score": 0.0}, {"step": 472, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.053m", "score": 0.0}, {"step": 563, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 128.339m", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 839, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7288ab56d25e477b2fededc14e9d6137c6d0d9b9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsMovingOrangeOrLimeTask/log_7_env0.json
@@ -0,0 +1 @@
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{"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["redonion"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"redonion": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='redonion')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='redonion', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "simple"], "_task_attributes": ["semantics", "vague", "simple"], "_task_name": "FruitsOnionToPlateTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed84ecf6516110aa11896e1f11393cb2048d7749
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3bfa11f8ff29b62bbfc7c7c9285c1a81552e78
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.156m", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 693, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1cd1201a1b2c3e338e4a841ffc7dd80f747bc0f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.125m", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.072m", "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=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1ef21451d3ff181176f69789acb6ebcc0aadfd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.151m", "score": 0.0}, {"step": 150, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.074m", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f940f758078aa0e56b23381d8f753f491f5d102
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 4, "success": true, "final_step": 446, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.146m", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['redonion'])", "score": 0.0}, {"step": 434, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 434, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 446, "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/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a9b7fab6174eff693c0a05e8fda1c5316c7da1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 580, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 593, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 600, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 683, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 694, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.071m", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 858, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.073m", "score": 0.0}, {"step": 875, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.088m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..048d6ef038ea8f5eb4e53b7cc70f0c9e511b97d2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.155m", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 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=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df77ea33cf9ef84c4201b6b2efc12b7cfa1d820
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.132m", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.056m", "score": 0.0}, {"step": 447, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_spoons' (target objects: ['redonion'])", "score": 0.0}, {"step": 447, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_spoons'", "score": 0.0}, {"step": 459, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.057m", "score": 0.0}, {"step": 459, "code": 258, "name": 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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/FruitsOnionToPlateTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..332de3fc5bf8a94163a1f6e879a5ed7ee540244b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.051m", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.191m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a9dba1f3ec148b2471e1af9e6d733f322f11e9b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 759, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 802, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cb5d591e3afa80995d0e35a111d50e0803e197
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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"score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 680, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.107m", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.094m", "score": 0.0}, {"step": 731, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.073m", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.126m", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 767, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "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=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..723b6d73119cf07c59c7e20d7085e780c8e59d29
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 741, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 792, "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=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db173395c3a9ef3bf29101d5c63ff5de54b6a32
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 710, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 813, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 817, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 829, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['keyboard'])", "score": 0.0}, {"step": 837, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['keyboard'])", "score": 0.0}, {"step": 837, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['keyboard'])", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 877, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.101m", "score": 0.0}, {"step": 880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2110020690eab68e50d66e5353ca1fe3d0c6f1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.055m", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef69d4d4b03af630e41e057ef88e4e1291d771a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 306, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f506662efce370913e11c8bc0737884bca709566
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "KeyboardOutOfBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 461, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 481, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 693, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=keyboard). advanced 1 step(s) to step 1 for keyboard.", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=keyboard). regressing to step 0 for keyboard.", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a455940ac87d023e2a2045c17ffe4da51230dd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/KeyboardOutOfBinTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d56cac1fa8441f7a8af781ecf73400d989a2265
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 164, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.099m", "score": 0.0}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.057m", "score": 0.0}, {"step": 504, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 520, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..247b7f37baa88cfdc11d2cb037aabf5eaf686dff
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 80, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.205m", "score": 0.0}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.221m", "score": 0.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.135m", "score": 0.0}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.317m", "score": 0.0}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 487, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.067m", "score": 0.0}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.094m", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.166m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34a1010f22c755c05828e533409fe23bedde985
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 125, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.097m", "score": 0.0}, {"step": 281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 368, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.098m", "score": 0.0}, {"step": 453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.401m", "score": 0.0}, {"step": 484, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.128m", "score": 0.0}, {"step": 592, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.179m", "score": 0.0}, {"step": 624, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 626, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 747, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.225m", "score": 0.0}, {"step": 759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 764, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 784, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.166m", "score": 0.0}, {"step": 858, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.383m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca9a0f40d388c1cdfa377a807555c912757a743
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 3, "success": true, "final_step": 875, "events": [{"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 293, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 430, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.084m", "score": 0.0}, {"step": 433, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.105m", "score": 0.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.329m", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 798, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 875, "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/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cae3cfa7f2afcb4f247c9f30f23b920b431e27d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 4, "success": true, "final_step": 486, "events": [{"step": 102, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec14e4263625389fa2be2b8ae778a8112bb0995
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 5, "success": true, "final_step": 476, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 476, "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/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ef5acd0a17c0a639e7be511308a8c623b1c0bf
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 6, "success": true, "final_step": 561, "events": [{"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 561, "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/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..678584de6badb15098832cd09244e24616bfe90e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a02', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: 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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/OneBottleInSquarePailTask/log_9_env0.json
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\ No newline at end of file
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"history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["smartphone", "remote_control"], "container": "grey_bin", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"smartphone": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='smartphone', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "remote_control": [["functools.partial(<function object_grabbed at 0x7f4caba8e5c0>, object='remote_control')", 0.0], ["functools.partial(<function object_in_container at 0x7f4caba12e80>, object='remote_control', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "PhoneOrRemoteInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the phone or the remote in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the phone or the remote in the grey bin", "vague": "Put the phone or the remote away", "specific": "Choose either the black phone or the remote control and it into the grey bin next to the keyboard"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ff40b67a6549741334edf934b45d6867d8fa61
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 324, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 447, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 457, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 611, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['remote_control', 'smartphone'])", "score": 0.0}, {"step": 617, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 860, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ea7f90c902a66d430fc4df92bb6d2341969394a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 814, "events": [{"step": 364, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 665, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 696, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 814, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2158859909eee11d8895570b7ac98af974cf84
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 434, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 434, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdabb1795199bb56d811eed4f99489e4e524b5c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 423, "events": [{"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 423, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..439ba93d8dc42a07add74cb050280e523193bde0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 580, "events": [{"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 580, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..209177e1b2e72b004299eea28312f9480382b6b4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 536, "events": [{"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 536, "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/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2356556e157d96d29bfe64f8d59dff386eb3e1b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PhoneOrRemoteInBinTask/log_6_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc355e2cdf9bc187a5b9d1f0fecc39054f63d48a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 0, "success": true, "final_step": 420, "events": [{"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 420, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_orange_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30129593fffc2438bb912aaa34b2154d72471598
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_1_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19c417284359bfbde2527606a1b70e3de8c6e09
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_3_env0.json
new file mode 100644
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_4_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_5_env0.json
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@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_6_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e0ed6c10bc3e423d4320804e0adc1f5ad9e1a5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PickOrangeObjectTask/log_9_env0.json
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{"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["ceramic_mug", "mug"], "reference_object": "rack_l04", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='ceramic_mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f6dc42b0d60>, object='mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutMugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the two mugs on the shelf", "contact_object_list": ["ceramic_mug", "mug", "rack_l04", "serving_bowl", "utilityjug_a01", "table"], "_instruction_variants": {"default": "Put the two mugs on the shelf", "vague": "Put the mugs on shelf", "specific": "Pick up the two mugs from the table and place them on the shelf in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..794a0bb409fac10bf567f024fb655353b398c736
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 2011, "events": [{"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1030, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2011, "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/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d566df3c21c956955b2100cd71fca7d4ee40fda
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 85, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.125m", "score": 0.0}, {"step": 95, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 114, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.086m", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 797, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1202, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1399, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.119m", "score": 0.0}, {"step": 1492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2076, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2571, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 2605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce2ffd9b625c6d98052e17b05ee52a6231ad11e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1610, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 0.0}, {"step": 2377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..855d2c2eaa0ec942cc5c96c4f0624d3ef191fd10
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 87, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 94, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.461m", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1817, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..70095090248e02beab1c24f54c67bc0338b153c2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 110, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 115, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.406m", "score": 0.0}, {"step": 574, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.100m", "score": 0.0}, {"step": 597, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 614, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.027m", "score": 0.0}, {"step": 634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.089m", "score": 0.0}, {"step": 1958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1995, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..613fe961713ee56e9d940547a59756e09b5aa24b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1686, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1894, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2200, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.5}, {"step": 2213, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.913m", "score": 0.5}, {"step": 2399, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7be24cf6a2f58f95843b21d53a4e17bf15a1f78
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 90, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 0.732m", "score": 0.0}, {"step": 110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.160m", "score": 0.0}, {"step": 115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.075m", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1019, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1027, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1031, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1033, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1042, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1052, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1056, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1058, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1086, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.106m", "score": 0.0}, {"step": 1824, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1851, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5be18739c5f33a9544ecf56c2c458b96ab129a55
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.163m", "score": 0.5}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.170m", "score": 0.5}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.5}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.104m", "score": 1.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 952, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 1.0}, {"step": 955, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.674m", "score": 1.0}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1028, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1029, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.064m", "score": 1.0}, {"step": 1304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.058m", "score": 1.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.059m", "score": 1.0}, {"step": 1642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 1.0}, {"step": 1700, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1717, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 1874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 1875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2c60145925f490e4e991b25864eceaaab3977
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", 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"score": 0.0}, {"step": 2259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2356, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 2361, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.216m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..371a47805b1513f0471f58f973a5aea0b5c93fce
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/PutMugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.064m", "score": 0.0}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.090m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.069m", "score": 0.0}, {"step": 637, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 645, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.746m", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.138m", "score": 0.0}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1375, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 1440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1923, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1955, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.071m", "score": 0.0}, {"step": 2028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2076, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}]}
\ No newline at end of file
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Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cd3fa0bea9d658e4e3e953c32d45c219f8cfc6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.101m", "score": 0.5}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 498, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.5}, {"step": 516, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.093m", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4060a4eaf8f2d6acd4a9b8646144cce296daa0e0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 211, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 250, "code": 139, 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"name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.053m", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.056m", "score": 0.0}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 776, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 865, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef6fae774e676cd2b38e5fdeebec7fe830c1929
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 735, "events": [{"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.115m", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.068m", "score": 0.5}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7e33f27f7125b7f0b99c27503fc39448b71c36
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 3, "success": true, "final_step": 364, "events": [{"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.119m", "score": 0.0}, {"step": 364, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 1.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa95a84017e18ccc376dbbbb4b60fffe2b19c0e4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 4, "success": true, "final_step": 546, "events": [{"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.224m", "score": 0.5}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.302m", "score": 0.5}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 462, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 469, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 491, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 1.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 546, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30a6d9851f140a586c3f1500c274810917e87f35
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 5, "success": true, "final_step": 245, "events": [{"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.110m", "score": 0.5}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83e54aa4b84c8c5144a5d5c2bc124b23281e37b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ReorientRedMugTask/log_9_env0.json
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[["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='red_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='red_hammer', reference_object='table', require_gripper_detached=True)", 1.0]], "wood_hammer": [["functools.partial(<function object_grabbed at 0x7f6dc42b39c0>, object='wood_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f6dc4237060>, object='wood_hammer', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "complex"], "_task_attributes": ["semantics", "spatial", "complex"], "_task_name": "ToolsPickingAllHammersTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take out all the hammers 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb08a95a0269addc95c2fee033f53ba31f4a38f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 0, "success": false, "final_step": 3600, "events": [{"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1924, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2233, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 2235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.5}, {"step": 2862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2864, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3087, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 3376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 3452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 3452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 3596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2dfce1ffe59d5bc8bbac8eea811e62fdb28352
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 1, "success": false, "final_step": 3600, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 980, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 982, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 982, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1017, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1678, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1948, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 1975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=wood_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for wood_hammer. All conditions satisfied for wood_hammer.", "score": 0.5}, {"step": 1982, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.132m", "score": 0.5}, {"step": 2138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.127m", "score": 0.5}, {"step": 2723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d25dfe7a80a2681003cc92fc73e554a3c2667e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 2, "success": false, "final_step": 3600, "events": [{"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 977, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 981, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1045, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1045, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.25}, {"step": 2212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 2242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 2560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2728, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 2819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 2863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 2865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.25}, {"step": 2972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 2972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.25}, {"step": 3180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.25}, {"step": 3316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.25}, {"step": 3353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..16eea38b9e9858077633a5ca95827469da2134a9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 3, "success": false, "final_step": 3600, "events": [{"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 431, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1010, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 1820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2234, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.5}, {"step": 2321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 2331, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.75}, {"step": 2332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2896, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a5f6c0dba26f0d49f20ee840eeb99674d64815
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 4, "success": false, "final_step": 3600, "events": [{"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1604, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2048, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2049, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2367, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2832, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 2906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 2958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.25}, {"step": 3158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.25}, {"step": 3389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 3395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 3554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.25}, {"step": 3555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.25}, {"step": 3556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72040906e3d1746524dbff1909ee2ae86fb65977
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 5, "success": false, "final_step": 3600, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 693, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1960, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2045, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.25}, {"step": 2138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2727, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.5}, {"step": 2781, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2934, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2936, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 2966, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 3340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c6d1f360502107b6bf2762fe19c51c8d016d17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 6, "success": false, "final_step": 3600, "events": [{"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 1585, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 2437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 2508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 2945, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 2950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 3277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 3494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 3502, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 3502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 3539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 3545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 3563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..775e6c1d3c105c97c2b967c067fb03f971b34b55
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 7, "success": false, "final_step": 3600, "events": [{"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 383, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer', 'wood_hammer', 'husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 383, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 929, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.25}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.5}, {"step": 1081, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.75}, {"step": 2042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 2744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2785, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.75}, {"step": 2845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3971d04ba40e2c85b356188d855ff5150dd1e4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 8, "success": false, "final_step": 3600, "events": [{"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 1658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 1804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 1844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1849, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1850, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2023, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=blue_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for blue_hammer. All conditions satisfied for blue_hammer.", "score": 0.25}, {"step": 2221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=husky_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=red_hammer, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.75}, {"step": 3111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.75}, {"step": 3141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.75}, {"step": 3142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 3501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 3584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d09f552b9206385e4c06c03f9e28506e61b23c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-44-57_harness/ToolsPickingAllHammersTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingAllHammersTask", "env_id": 0, "run": 9, "success": false, "final_step": 3600, "events": [{"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wood_hammer). advanced 1 step(s) to step 1 for wood_hammer.", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wood_hammer). regressing to step 0 for wood_hammer.", "score": 0.0}, {"step": 882, "code": 256, "name": 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+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 0, "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": -3.3010304752328214, "joint_sparc_mean": -10.23150588974555, "ee_isj": 1560.9607062356877, "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": {"policy_inference_s": 2518.221, "policy_inference_avg_ms": 699.5, "env_step_s": 3086.719, "env_step_avg_ms": 857.4, "video_write_s": 25.805, "video_write_avg_ms": 7.2, "wall_total_s": 5630.745, "it_per_sec": 0.64}, "score": 0.6363636255264282, "reason": "Conditions not satisfied: object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
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+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 423, "duration": 28.2, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.7822843338781924, "joint_sparc_mean": -4.538077607893771, "ee_isj": 238.65316026915968, "joint_isj": 79234.71983722581, "ee_path_length": 1.4084709789480887, "joint_rmse_mean": 1.127846525701734, "ee_speed_max": 0.24227841198444366, "ee_speed_mean": 0.052411846816539764}, "events": {"GRIPPER_HIT_TABLE": 1, "GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 297.257, "policy_inference_avg_ms": 702.7, "env_step_s": 250.06, "env_step_avg_ms": 591.2, "video_write_s": 4.228, "video_write_avg_ms": 10.0, "wall_total_s": 551.545, "it_per_sec": 0.77}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 580, "duration": 38.666666666666664, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.077112257378407, "joint_sparc_mean": -4.576817007178275, "ee_isj": 62.22305512645498, "joint_isj": 3898.806927132718, "ee_path_length": 1.9435584404696444, "joint_rmse_mean": 1.2158956464395718, "ee_speed_max": 0.08276398479938507, "ee_speed_mean": 0.04778031259775162}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 346.665, "policy_inference_avg_ms": 597.7, "env_step_s": 351.432, "env_step_avg_ms": 605.9, "video_write_s": 5.431, "video_write_avg_ms": 9.4, "wall_total_s": 703.529, "it_per_sec": 0.82}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 536, "duration": 35.733333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.785688820630599, "joint_sparc_mean": -3.833654645091054, "ee_isj": 47.508912637799774, "joint_isj": 5551.256810864671, "ee_path_length": 1.7800437569046814, "joint_rmse_mean": 1.2180475004974465, "ee_speed_max": 0.08718736469745636, "ee_speed_mean": 0.04626419022679329}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 296.895, "policy_inference_avg_ms": 553.9, "env_step_s": 310.801, "env_step_avg_ms": 579.9, "video_write_s": 5.0, "video_write_avg_ms": 9.3, "wall_total_s": 612.695, "it_per_sec": 0.87}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.5886391497996115, "joint_sparc_mean": -7.8287472980260455, "ee_isj": 428.2927943819783, "joint_isj": 119826.7286941358, "ee_path_length": 2.925964560942359, "joint_rmse_mean": 0.9753474859230163, "ee_speed_max": 0.2266988456249237, "ee_speed_mean": 0.04805026575922966}, "events": {"GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_OBJECT": 2, "TARGET_OBJECT_DROPPED": 2, "GRIPPER_HIT_TABLE": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 600.138, "policy_inference_avg_ms": 666.8, "env_step_s": 595.587, "env_step_avg_ms": 661.8, "video_write_s": 7.786, "video_write_avg_ms": 8.7, "wall_total_s": 1203.51, "it_per_sec": 0.75}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 330, "duration": 22.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.3739077038463403, "joint_sparc_mean": -3.491576515617227, "ee_isj": 56.144617113057464, "joint_isj": 2909.7066782002403, "ee_path_length": 1.324306033116327, "joint_rmse_mean": 0.9463546781996799, "ee_speed_max": 0.11394374072551727, "ee_speed_mean": 0.05718090012669563}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 254.57, "policy_inference_avg_ms": 771.4, "env_step_s": 212.124, "env_step_avg_ms": 642.8, "video_write_s": 4.111, "video_write_avg_ms": 12.5, "wall_total_s": 470.805, "it_per_sec": 0.7}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 603, "duration": 40.2, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.799679648580388, "joint_sparc_mean": -4.377781664859251, "ee_isj": 81.4570624956205, "joint_isj": 4087.5107446265383, "ee_path_length": 2.1116466765444266, "joint_rmse_mean": 0.9284215387566503, "ee_speed_max": 0.09743846207857132, "ee_speed_mean": 0.05048977956175804}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 2, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 348.45, "policy_inference_avg_ms": 577.9, "env_step_s": 407.834, "env_step_avg_ms": 676.3, "video_write_s": 5.816, "video_write_avg_ms": 9.6, "wall_total_s": 762.101, "it_per_sec": 0.79}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 696, "duration": 46.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.2432691576853125, "joint_sparc_mean": -5.54083581288789, "ee_isj": 73.46043649233559, "joint_isj": 4639.074508699994, "ee_path_length": 1.932892346694525, "joint_rmse_mean": 0.943277972415216, "ee_speed_max": 0.11578855663537979, "ee_speed_mean": 0.03895187005400658}, "events": {"GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 4, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 451.15, "policy_inference_avg_ms": 648.2, "env_step_s": 463.411, "env_step_avg_ms": 665.8, "video_write_s": 6.477, "video_write_avg_ms": 9.3, "wall_total_s": 921.037, "it_per_sec": 0.76}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1026, "duration": 68.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.3073844395721763, "joint_sparc_mean": -4.413387038558242, "ee_isj": 110.61504133923106, "joint_isj": 5966.1103671037745, "ee_path_length": 2.39845599861622, "joint_rmse_mean": 1.0920620617467542, "ee_speed_max": 0.2327040582895279, "ee_speed_mean": 0.03723630681633949}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 4, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 507.871, "policy_inference_avg_ms": 495.0, "env_step_s": 718.247, "env_step_avg_ms": 700.0, "video_write_s": 8.505, "video_write_avg_ms": 8.3, "wall_total_s": 1234.623, "it_per_sec": 0.83}, "score": 0.5, "reason": "success: object_on_top(object=spoon_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_1. All conditions satisfied for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1392, "duration": 92.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.127375072492791, "joint_sparc_mean": -6.391489888789207, "ee_isj": 129.80743209630873, "joint_isj": 10719.011157476802, "ee_path_length": 3.580166353853877, "joint_rmse_mean": 1.143107637214497, "ee_speed_max": 0.14444924890995026, "ee_speed_mean": 0.03722795471549034}, "events": {"TARGET_OBJECT_DROPPED": 8, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 630.321, "policy_inference_avg_ms": 452.8, "env_step_s": 970.731, "env_step_avg_ms": 697.4, "video_write_s": 10.501, "video_write_avg_ms": 7.5, "wall_total_s": 1611.553, "it_per_sec": 0.86}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1331, "duration": 88.73333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.5744385409759896, "joint_sparc_mean": -4.673448235075545, "ee_isj": 76.97182055329696, "joint_isj": 8050.072468184035, "ee_path_length": 3.9972433009282953, "joint_rmse_mean": 0.990007067411726, "ee_speed_max": 0.10571514815092087, "ee_speed_mean": 0.04271874949336052}, "events": {"TARGET_OBJECT_DROPPED": 5, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 482.371, "policy_inference_avg_ms": 362.4, "env_step_s": 955.007, "env_step_avg_ms": 717.5, "video_write_s": 10.253, "video_write_avg_ms": 7.7, "wall_total_s": 1447.631, "it_per_sec": 0.92}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1980, "duration": 132.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.828519662160064, "joint_sparc_mean": -12.806880533144156, "ee_isj": 300.3277258074528, "joint_isj": 42998.87500973271, "ee_path_length": 6.023653210538013, "joint_rmse_mean": 1.1039334332585333, "ee_speed_max": 0.26076236367225647, "ee_speed_mean": 0.04264204949140549}, "events": {"GRIPPER_FULLY_CLOSED": 9, "TARGET_OBJECT_DROPPED": 15, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 3, "wrong_objects_grabbed": ["clay_plates", "clay_plates", "clay_plates"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1190.18, "policy_inference_avg_ms": 601.1, "env_step_s": 1408.014, "env_step_avg_ms": 711.1, "video_write_s": 14.956, "video_write_avg_ms": 7.6, "wall_total_s": 2613.15, "it_per_sec": 0.76}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.886590466652392, "joint_sparc_mean": -8.178399133762067, "ee_isj": 702.6212815713219, "joint_isj": 85712.55224618467, "ee_path_length": 8.428126113028771, "joint_rmse_mean": 1.1790319652847585, "ee_speed_max": 0.2529374361038208, "ee_speed_mean": 0.044016577303409576}, "events": {"GRIPPER_FULLY_CLOSED": 9, "TARGET_OBJECT_DROPPED": 10, "GRIPPER_HIT_OBJECT": 6, "OBJECT_BUMPED": 27, "WRONG_OBJECT_GRABBED": 6, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1430.095, "policy_inference_avg_ms": 529.7, "env_step_s": 1863.811, "env_step_avg_ms": 690.3, "video_write_s": 19.467, "video_write_avg_ms": 7.2, "wall_total_s": 3313.374, "it_per_sec": 0.81}, "score": 1.0, "reason": "Condition not satisfied: object_grabbed(object=spoon_1) (step 1/2)"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1319, "duration": 87.93333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.486302499422892, "joint_sparc_mean": -5.006797998490002, "ee_isj": 114.64020108481876, "joint_isj": 6698.30937127914, "ee_path_length": 3.295844177289262, "joint_rmse_mean": 1.0829617108197496, "ee_speed_max": 0.1149371862411499, "ee_speed_mean": 0.03702434524893761}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 6, "GRIPPER_FULLY_CLOSED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 652.746, "policy_inference_avg_ms": 494.9, "env_step_s": 911.317, "env_step_avg_ms": 690.9, "video_write_s": 10.232, "video_write_avg_ms": 7.8, "wall_total_s": 1574.295, "it_per_sec": 0.84}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1060, "duration": 70.66666666666667, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.459500296485245, "joint_sparc_mean": -4.927282387061707, "ee_isj": 76.8624811028626, "joint_isj": 2871.238799680811, "ee_path_length": 2.547046083972523, "joint_rmse_mean": 1.0895144096619944, "ee_speed_max": 0.29852378368377686, "ee_speed_mean": 0.03399091586470604}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 447.214, "policy_inference_avg_ms": 421.9, "env_step_s": 723.537, "env_step_avg_ms": 682.6, "video_write_s": 8.285, "video_write_avg_ms": 7.8, "wall_total_s": 1179.037, "it_per_sec": 0.9}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 856, "duration": 57.06666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.2471824366410527, "joint_sparc_mean": -5.403304045676571, "ee_isj": 72.35850174553788, "joint_isj": 16435.36426324286, "ee_path_length": 1.7746744370115715, "joint_rmse_mean": 1.1046750672876249, "ee_speed_max": 0.08005932718515396, "ee_speed_mean": 0.030577441677451134}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 407.524, "policy_inference_avg_ms": 476.1, "env_step_s": 588.819, "env_step_avg_ms": 687.9, "video_write_s": 7.171, "video_write_avg_ms": 8.4, "wall_total_s": 1003.513, "it_per_sec": 0.85}, "score": 0.5, "reason": "success: object_on_top(object=spoon_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_1. All conditions satisfied for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1092, "duration": 72.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.8460123265867265, "joint_sparc_mean": -5.14385021962608, "ee_isj": 81.57215977605557, "joint_isj": 4904.87425518085, "ee_path_length": 3.1822401597580967, "joint_rmse_mean": 1.0575552239983095, "ee_speed_max": 0.14120852947235107, "ee_speed_mean": 0.0417696088552475}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 6, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 465.686, "policy_inference_avg_ms": 426.5, "env_step_s": 751.117, "env_step_avg_ms": 687.8, "video_write_s": 8.718, "video_write_avg_ms": 8.0, "wall_total_s": 1225.521, "it_per_sec": 0.89}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1641, "duration": 109.39999999999999, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.286950712766748, "joint_sparc_mean": -7.093873410219366, "ee_isj": 120.34776832305886, "joint_isj": 29215.547259460574, "ee_path_length": 3.7298768032844416, "joint_rmse_mean": 1.1015052790641156, "ee_speed_max": 0.08195573836565018, "ee_speed_mean": 0.0334259532392025}, "events": {"TARGET_OBJECT_DROPPED": 10, "GRIPPER_FULLY_CLOSED": 9, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 741.343, "policy_inference_avg_ms": 451.8, "env_step_s": 1120.855, "env_step_avg_ms": 683.0, "video_write_s": 12.149, "video_write_avg_ms": 7.4, "wall_total_s": 1874.348, "it_per_sec": 0.88}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.255078163344072, "joint_sparc_mean": -6.038512448746109, "ee_isj": 207.35798891342355, "joint_isj": 19319.06933293733, "ee_path_length": 3.617849564235992, "joint_rmse_mean": 1.0762930214515034, "ee_speed_max": 0.17050796747207642, "ee_speed_mean": 0.05711626634001732}, "events": {"GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 2, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 5, "wrong_objects_grabbed": ["utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 652.301, "policy_inference_avg_ms": 724.8, "env_step_s": 304.296, "env_step_avg_ms": 338.1, "video_write_s": 7.292, "video_write_avg_ms": 8.1, "wall_total_s": 963.889, "it_per_sec": 0.93}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.814518748441214, "joint_sparc_mean": -8.252157208872005, "ee_isj": 385.4011261308284, "joint_isj": 41167.83275039988, "ee_path_length": 2.822543916058166, "joint_rmse_mean": 1.1843819462858503, "ee_speed_max": 0.4119732081890106, "ee_speed_mean": 0.04481487348675728}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 619.805, "policy_inference_avg_ms": 688.7, "env_step_s": 346.53, "env_step_avg_ms": 385.0, "video_write_s": 7.466, "video_write_avg_ms": 8.3, "wall_total_s": 973.801, "it_per_sec": 0.92}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.6897619597206335, "joint_sparc_mean": -7.903018844040024, "ee_isj": 425.92141607431415, "joint_isj": 43161.5240659267, "ee_path_length": 3.41425284666655, "joint_rmse_mean": 1.164070132611735, "ee_speed_max": 0.5157880187034607, "ee_speed_mean": 0.05424203723669052}, "events": {"GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 9, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_FULLY_CLOSED": 5, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a02", "utilityjug_a02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 610.21, "policy_inference_avg_ms": 678.0, "env_step_s": 317.052, "env_step_avg_ms": 352.3, "video_write_s": 7.37, "video_write_avg_ms": 8.2, "wall_total_s": 934.632, "it_per_sec": 0.96}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 875, "duration": 58.333333333333336, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.9366552645162107, "joint_sparc_mean": -7.78080985359779, "ee_isj": 1411.2942172713224, "joint_isj": 103077.54413283787, "ee_path_length": 3.8283445192991112, "joint_rmse_mean": 1.1001882493036244, "ee_speed_max": 0.6977856755256653, "ee_speed_mean": 0.0638062134385109}, "events": {"GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 3, "TARGET_OBJECT_DROPPED": 4, "wrong_objects_grabbed": ["utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 661.269, "policy_inference_avg_ms": 755.7, "env_step_s": 293.672, "env_step_avg_ms": 335.6, "video_write_s": 7.132, "video_write_avg_ms": 8.2, "wall_total_s": 962.073, "it_per_sec": 0.91}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 486, "duration": 32.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.644654187763428, "joint_sparc_mean": -3.71139547622546, "ee_isj": 38.73796116023548, "joint_isj": 4321.135707101492, "ee_path_length": 1.520039530711242, "joint_rmse_mean": 1.0769179024823934, "ee_speed_max": 0.08981874585151672, "ee_speed_mean": 0.04543257877230644}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 414.78, "policy_inference_avg_ms": 853.5, "env_step_s": 164.893, "env_step_avg_ms": 339.3, "video_write_s": 4.654, "video_write_avg_ms": 9.6, "wall_total_s": 584.328, "it_per_sec": 0.83}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 476, "duration": 31.733333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.9541469330625567, "joint_sparc_mean": -6.163521911616223, "ee_isj": 291.0854790518689, "joint_isj": 4592.5625840558305, "ee_path_length": 1.6616300780989897, "joint_rmse_mean": 1.120582590326295, "ee_speed_max": 0.3064732551574707, "ee_speed_mean": 0.048826418817043304}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 242.099, "policy_inference_avg_ms": 508.6, "env_step_s": 162.196, "env_step_avg_ms": 340.7, "video_write_s": 4.559, "video_write_avg_ms": 9.6, "wall_total_s": 408.854, "it_per_sec": 1.16}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": true, "episode_step": 561, "duration": 37.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.7017874205344596, "joint_sparc_mean": -3.4479479196219915, "ee_isj": 42.7018361601508, "joint_isj": 1936.616132583855, "ee_path_length": 1.7499121966564162, "joint_rmse_mean": 0.973277721321346, "ee_speed_max": 0.10660433769226074, "ee_speed_mean": 0.045539651066064835}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 265.3, "policy_inference_avg_ms": 472.9, "env_step_s": 193.074, "env_step_avg_ms": 344.2, "video_write_s": 5.075, "video_write_avg_ms": 9.0, "wall_total_s": 463.449, "it_per_sec": 1.21}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7640096436347217, "joint_sparc_mean": -7.296745054629194, "ee_isj": 404.8753141851417, "joint_isj": 12341.531543091012, "ee_path_length": 3.8227252204774302, "joint_rmse_mean": 0.8558566294736704, "ee_speed_max": 0.2639128565788269, "ee_speed_mean": 0.05949897691607475}, "events": {"GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 11, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 5, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "squarepail_a01", "squarepail_a01", "squarepail_a01", "squarepail_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 570.409, "policy_inference_avg_ms": 633.8, "env_step_s": 305.92, "env_step_avg_ms": 339.9, "video_write_s": 7.241, "video_write_avg_ms": 8.0, "wall_total_s": 883.569, "it_per_sec": 1.02}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.364985794671655, "joint_sparc_mean": -6.614874723295669, "ee_isj": 53.36176817397421, "joint_isj": 4199.1190429648495, "ee_path_length": 2.3066867214446334, "joint_rmse_mean": 0.8286469259330608, "ee_speed_max": 0.10096979141235352, "ee_speed_mean": 0.036368273198604584}, "events": {"GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 428.437, "policy_inference_avg_ms": 476.0, "env_step_s": 312.012, "env_step_avg_ms": 346.7, "video_write_s": 7.314, "video_write_avg_ms": 8.1, "wall_total_s": 747.763, "it_per_sec": 1.2}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleInSquarePailTask", "task_name": "OneBottleInSquarePailTask", "run_name": "OneBottleInSquarePailTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle in the square pail", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.1566520852008955, "joint_sparc_mean": -5.892936253358223, "ee_isj": 312.38653590061523, "joint_isj": 8071.719258359568, "ee_path_length": 3.5181797426020687, "joint_rmse_mean": 0.9680634453077851, "ee_speed_max": 0.36238592863082886, "ee_speed_mean": 0.05594690889120102}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 8, "OBJECT_BUMPED": 2, "WRONG_OBJECT_GRABBED": 2, "TARGET_OBJECT_DROPPED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 599.51, "policy_inference_avg_ms": 666.1, "env_step_s": 307.409, "env_step_avg_ms": 341.6, "video_write_s": 7.369, "video_write_avg_ms": 8.2, "wall_total_s": 914.288, "it_per_sec": 0.98}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "FoodPacking2CansTask", "task_name": "FoodPacking2CansTask", "run_name": "FoodPacking2CansTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Pack canned foods into the bin", "attributes": ["semantics", "simple"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.894094190123494, "joint_sparc_mean": -9.838691581194862, "ee_isj": 147.1470702392303, "joint_isj": 4392.49736533648, "ee_path_length": 4.994309557786016, "joint_rmse_mean": 1.0991234794001499, "ee_speed_max": 0.14433179795742035, "ee_speed_mean": 0.025798091664910316}, "events": {"TARGET_OBJECT_DROPPED": 13, "GRIPPER_FULLY_CLOSED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 937.896, "policy_inference_avg_ms": 347.4, "env_step_s": 751.37, "env_step_avg_ms": 278.3, "video_write_s": 19.082, "video_write_avg_ms": 7.1, "wall_total_s": 1708.348, "it_per_sec": 1.58}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=tuna_can) (step 1/2)"}
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf81cf775fbce8048ec1bf45fada6e497317e07
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 0, "success": true, "final_step": 1434, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 614, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1057, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1434, "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/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e79c6d34c5f36cbe339b8565c266a233323ec9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 598, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1011, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.200m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.196m", "score": 0.6666666666666666}, {"step": 1410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.217m", "score": 0.6666666666666666}, {"step": 1411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.138m", "score": 0.6666666666666666}, {"step": 1417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.228m", "score": 0.6666666666666666}, {"step": 1418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.134m", "score": 0.6666666666666666}, {"step": 1420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.216m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.112m", "score": 0.6666666666666666}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.165m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.195m", "score": 0.6666666666666666}, {"step": 1423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.234m", "score": 0.6666666666666666}, {"step": 1425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.099m", "score": 0.6666666666666666}, {"step": 1427, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.150m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..af58bc9f0083dd30abc5df1f1d0470b44a150134
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 2, "success": true, "final_step": 1694, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 227, "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=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 626, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 969, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1523, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['whitepackerbottle_a01', 'utilityjug_a03', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1694, "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/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff88e371b0ae8f91172245d4eff608e735b086
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 3, "success": true, "final_step": 1821, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 796, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1321, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1821, "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/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c8ecf6f34f3490830710b3c4effb94afef8de9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.058m", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.424m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.263m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.289m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.074m", "score": 0.3333333333333333}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.079m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.100m", "score": 0.3333333333333333}, {"step": 1187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.076m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.088m", "score": 0.3333333333333333}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.250m", "score": 0.3333333333333333}, {"step": 1188, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.651m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.098m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.091m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.165m", "score": 0.3333333333333333}, {"step": 1195, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.198m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.106m", "score": 0.3333333333333333}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.093m", "score": 0.3333333333333333}, {"step": 1198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.157m", "score": 0.3333333333333333}, {"step": 1199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.3333333333333333}, {"step": 1200, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.556m", "score": 0.3333333333333333}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.086m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..251006f8a15d1dc30e1981751e69833b1d8783f8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 5, "success": true, "final_step": 2461, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 446, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.3333333333333333}, {"step": 654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 851, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1297, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.102m", "score": 0.6666666666666666}, {"step": 1312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1495, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.133m", "score": 0.6666666666666666}, {"step": 1549, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 1562, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 1566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.068m", "score": 0.6666666666666666}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1920, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'whitepackerbottle_a01', 'milkjug_a01'])", "score": 0.6666666666666666}, {"step": 2065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2067, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.6666666666666666}, {"step": 2074, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.061m", "score": 0.6666666666666666}, {"step": 2117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2461, "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/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2c9817d35d3fb6b0ad6a45f8b828172cbef68
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.053m", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1030, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1030, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1033, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1037, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.094m", "score": 0.3333333333333333}, {"step": 1044, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.3333333333333333}, {"step": 1050, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1055, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.924m", "score": 0.3333333333333333}, {"step": 1067, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1072, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.210m", "score": 0.3333333333333333}, {"step": 1079, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.178m", "score": 0.3333333333333333}, {"step": 1102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.116m", "score": 0.3333333333333333}, {"step": 1121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.3333333333333333}, {"step": 1125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.172m", "score": 0.3333333333333333}, {"step": 1126, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.199m", "score": 0.3333333333333333}, {"step": 1133, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 1146, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.562m", "score": 0.3333333333333333}, {"step": 1171, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1177, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.736m", "score": 0.3333333333333333}, {"step": 2143, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2149, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2534, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7490357ada779573312230085814c6d6a2642b3d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 7, "success": true, "final_step": 1416, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1019, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1416, "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/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2c463134d2dd1c5ad6b4b9d2e3c87489526e32
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 459, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 934, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1183, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.058m", "score": 0.6666666666666666}, {"step": 1200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.264m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.263m", "score": 0.6666666666666666}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.274m", "score": 0.6666666666666666}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.152m", "score": 0.6666666666666666}, {"step": 1227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.090m", "score": 0.6666666666666666}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.109m", "score": 0.6666666666666666}, {"step": 1316, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.6666666666666666}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.262m", "score": 0.6666666666666666}, {"step": 1321, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.708m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'crabbypenholder' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.067m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.075m", "score": 0.6666666666666666}, {"step": 2201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'avocado01' nudged 0.084m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.092m", "score": 0.6666666666666666}, {"step": 2203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.089m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.129m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.094m", "score": 0.6666666666666666}, {"step": 2205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.086m", "score": 0.6666666666666666}, {"step": 2207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.162m", "score": 0.6666666666666666}, {"step": 2208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.126m", "score": 0.6666666666666666}, {"step": 2216, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2237, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 0.815m", "score": 0.6666666666666666}, {"step": 2243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d0947d8928116dfa3e5be9589ad8596596cfc7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ClutterPlasticTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8896bf9c38e9215d49335c4a8d19554178311b1e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
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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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e75e1f0d2406213bea20ebe329b0b0cca89268
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d30354a8af85e0965bf87e708734166558ebd82d
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8299cd12dff2b3fceeffd4144106994c328f584
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afe6766e0b49b2d19c5a1bc4787cad0b66f2dd2
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1afe9e63b0b774a2a6196e10607fccd9ed377a
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41c62567727d71f0704c199ff82ac2f245ba3eb
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c7c13001bf687fdc28a903b0cd0a6391a10e07
--- /dev/null
+++ b/full_task_1x/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/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a592c70b162080a6895ede43a76172fcff155
--- /dev/null
+++ b/full_task_1x/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 chocolate_pudding.", "score": 0.0}, {"step": 2509, "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": 2546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3083, "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": 3110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3164, "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": 3172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3216, "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": 3222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3288, "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": 3397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 3397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=chocolate_pudding). regressing to step 0 for chocolate_pudding.", "score": 0.0}, {"step": 3398, "code": 256, "name": 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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPacking3BoxesTask/log_9_env0.json
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\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9afe5a3b36f17fe76ba1b9385634b8501a0fb0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 285, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.086m", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.078m", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.051m", "score": 0.0}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 759, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_b03' (target objects: ['mustard'])", "score": 0.0}, {"step": 873, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_b03'", "score": 0.0}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_b03'", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 982, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1002, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.051m", "score": 0.0}, {"step": 1008, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_b03' nudged 0.093m", "score": 0.0}, {"step": 1025, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1029, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_b03'", "score": 0.0}, {"step": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1033, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1040, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_b03' displaced 1.384m", "score": 0.0}, {"step": 1719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1725, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..21769b90d33061d503c56556362efb8607bc69c7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 1, "success": false, "final_step": 1800, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.064m", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.107m", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 804, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1070, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1362, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 1403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1410, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f1917636f5411f12cc3767341143e319f39d21
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 838, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 995, "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=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1063, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.109m", "score": 0.0}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1224, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1355, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.098m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2f741d0782f85a00b335222c0b9d8d947e69d2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 3, "success": false, "final_step": 1800, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 395, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.091m", "score": 0.0}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 686, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 687, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 815, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 867, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 980, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 982, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 983, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 990, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c7329173c687d099c3c37083c2cab2dc258cea
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 4, "success": false, "final_step": 1800, "events": [{"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 434, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 459, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 473, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 476, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 480, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 598, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.120m", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 976, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 980, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 981, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1204, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.440m", "score": 0.0}, {"step": 1291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.153m", "score": 0.0}, {"step": 1352, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.139m", "score": 0.0}, {"step": 1373, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.140m", "score": 0.0}, {"step": 1427, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 1468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.103m", "score": 0.0}, {"step": 1485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.060m", "score": 0.0}, {"step": 1520, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.051m", "score": 0.0}, {"step": 1585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.059m", "score": 0.0}, {"step": 1601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.064m", "score": 0.0}, {"step": 1629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.191m", "score": 0.0}, {"step": 1651, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.061m", "score": 0.0}, {"step": 1664, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.105m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..233dbf50084ab5c8b2bc920ebdb6ce62bd531b51
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 5, "success": false, "final_step": 1800, "events": [{"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 629, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 655, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.103m", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 698, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1074, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1262, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1263, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1756, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35a1d88bdcc58d0828790ea41c26324c69377ac
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 6, "success": false, "final_step": 1800, "events": [{"step": 169, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 653, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 853, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.098m", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1033, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1269, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1271, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1274, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cheez_it'", "score": 0.0}, {"step": 1279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1282, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.055m", "score": 0.0}, {"step": 1301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.095m", "score": 0.0}, {"step": 1302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.155m", "score": 0.0}, {"step": 1307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.066m", "score": 0.0}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.201m", "score": 0.0}, {"step": 1311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.089m", "score": 0.0}, {"step": 1316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.106m", "score": 0.0}, {"step": 1321, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.0}, {"step": 1322, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spam_can' nudged 0.087m", "score": 0.0}, {"step": 1326, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.913m", "score": 0.0}, {"step": 1330, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.075m", "score": 0.0}, {"step": 1338, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1673, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1693, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1750, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1781, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 1793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1794, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2bcedb49d017bdd1314fc908e066659320650b1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 7, "success": false, "final_step": 1800, "events": [{"step": 127, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.052m", "score": 0.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.065m", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_can' nudged 0.055m", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 518, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.082m", "score": 0.0}, {"step": 704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 929, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1034, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1034, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1356, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 1409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.104m", "score": 0.0}, {"step": 1515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1731, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1732, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_can'", "score": 0.0}, {"step": 1732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0ec7d8f78eb9c9b30230c46e77275d8def93f1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_8_env0.json
@@ -0,0 +1 @@
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(target objects: ['mustard'])", "score": 0.0}, {"step": 1576, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 1576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['mustard'])", "score": 0.0}, {"step": 1683, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 1684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1703, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 1788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e836f936fa2ae1307716f2b2f5eefce5459bdb
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/FoodPackingByColorTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPackingByColorTask", "env_id": 0, "run": 9, "success": false, "final_step": 1800, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sugar_box'", "score": 0.0}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sugar_box' nudged 0.114m", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 766, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 862, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 863, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 864, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sugar_box' (target objects: ['mustard'])", "score": 0.0}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sugar_box'", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1005, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_can'", "score": 0.0}, {"step": 1129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.099m", "score": 0.0}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 1323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3743b9b69cf4cf8c42222ba61012b75ff0b24385
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a0f999e10aa22633ff8f59a4036f9011946dc8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 631, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 635, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1086, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1341, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1813, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1923, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 2692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb2d3ea67ccb09e29b41d99c087b58a0ccc0173
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 2, "success": true, "final_step": 2462, "events": [{"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 350, "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 986, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 1106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "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=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "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=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1971, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2247, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfed849b3155126aa97298262969317209378e1b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 3, "success": true, "final_step": 2239, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 818, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 818, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 948, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1064, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1064, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1780, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2007, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2239, "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/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c53238be31feeb22f20443d9cc717fe501d63
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 4, "success": true, "final_step": 2440, "events": [{"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 498, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 569, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['green_serving_spoon', 'ladle', 'ladle_01'])", "score": 0.0}, {"step": 846, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 919, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 936, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.052m", "score": 0.0}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 1176, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 1668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1753, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.3333333333333333}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 2072, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['green_serving_spoon', 'ladle', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 2074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2080, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2085, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2094, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2440, "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/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4db74c635c3b117d53fdaca74c175292c27ac0a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "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=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 429, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "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=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 733, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 938, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 938, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 1322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1599, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1997, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2023, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 2195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.055m", "score": 0.6666666666666666}, {"step": 2650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..302f8c39fc5961ffd5ba7c905a63c4edeb46c42f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 986, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.0}, {"step": 1134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1913, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 2097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 2098, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 2442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2616, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 2655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1862f568f1b4cb27c7c9dc0e12242b96293e72c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1023, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1024, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1705, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.087m", "score": 0.3333333333333333}, {"step": 1969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 2003, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2003, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 2492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 2523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2632, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.067m", "score": 0.3333333333333333}, {"step": 2669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2e3eca381f26317b01903af149aa87d99db4e3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 8, "success": true, "final_step": 1826, "events": [{"step": 327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 621, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 623, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 891, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 1143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1381, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 1826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1826, "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/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e6dcf1f7cc5b7def2e6c3c11a85f52f1db74f3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/GreenSpoonsInPotTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 521, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. 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All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 913, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1491, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.6666666666666666}, {"step": 1702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1725, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..746460c76f3b0efc121117010fd13da67ff0db25
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 1178, "events": [{"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 700, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ca021d00f9c500d2e1874d113116f6eb35fe01
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1728, "events": [{"step": 321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 324, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 503, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 970, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 973, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1066, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1610, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec2a6ab1d63349a88d0f4bd41230395b81d9379
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 582, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 993, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1001, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1602, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2413, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2413, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 2418, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2431, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2435, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2459, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2678, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55d60ee35085d870db506be78f20f9c021daf2e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 668, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1023, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1023, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1982, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2042, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2161, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2353, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.5}, {"step": 2356, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.643m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..71d88c66bbc8a7413ce436de783ad597b826a004
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1024, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1031, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1057, "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": 1069, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1069, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1368, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1600, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1616, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1629, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1735, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1747, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.715m", "score": 0.0}, {"step": 1826, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1828, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.068m", "score": 0.0}, {"step": 1828, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.104m", "score": 0.0}, {"step": 1836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.295m", "score": 0.0}, {"step": 1867, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.115m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c991d2601c56644b910dbd50744397159407449a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 955, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1806, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1828, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1884, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2124, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.5}, {"step": 2562, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.5}, {"step": 2579, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.538m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..507bbe77c8228d9cc7dd839fd1c92c86a688058e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 486, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 513, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 518, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 525, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1952, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1975, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2155, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2155, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2178, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc67d1395a5d9f8b6d7a2c5aa35bd9845e7f4172
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 836, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 838, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 867, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 880, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 993, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 993, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 1285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1292, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1293, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.0}, {"step": 1297, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.977m", "score": 0.0}, {"step": 1308, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 2.009m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f78e046ccc59cfd2971f264f6bed8920a95ea3b7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 792, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 797, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1942, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..593c8a7a4e67969a7f69cc6cc12d9c5a5732e4be
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/HammersInLeftBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "HammersInLeftBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 891, "code": 263, "name": 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object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2035, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2236f3c6fe4a40ed5a9ef566923e75a545860b17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
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"score": 0.0}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 946, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1000, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1933, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1978, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1978, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..46fee6260565355863e48fdbf69906fe1655beaa
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 773, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1638, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1915, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2102, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 2106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a486281cbe623232d6e87e21bd6c0535fecab58
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 842, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 876, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 879, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 879, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 879, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1100, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1756, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1758, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1760, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1873, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1910, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1914, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c6279a4ff5799136310f53d21e732838ee9a17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 656, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 727, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 757, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 759, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 762, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 934, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1470, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1701, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1842, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0bfab26309939c484b2ddcc20a96316efba4665
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 889, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 912, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1184, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1698, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2495, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4e143ba6189ada9f47c662a43e2a1c264378e1
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 973, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 974, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 979, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 979, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 980, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 987, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1635, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1658, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1824, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1970, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1970, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2411, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 2574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aafc958faae5085396a05547d1da7f802d90c59
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 453, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 939, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 954, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 959, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1052, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1874, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2282, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 2405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 2527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 2610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6787c799369df1c23db326e100ec91ada90c95fa
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 2326, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1140, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spring_clamp. All conditions satisfied for spring_clamp.", "score": 0.5}, {"step": 1157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1651, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1653, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 1949, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1949, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 1950, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2000, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2000, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.5}, {"step": 2062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.5}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2326, "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/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d4b10bd2270ab0cec17de84715f63879d7458b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 685, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 693, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 919, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1009, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1013, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1013, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1016, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1054, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1062, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1062, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1063, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1260, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1322, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fa1d14321767b6850eb50e5108be7c997cd94e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/log_9_env0.json
@@ -0,0 +1 @@
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"code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 606, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 911, "code": 139, "name": 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object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). 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"name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..609ae5836deae6a1e2a396dd03f475bca10e443c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/NonHammerToolsInRightBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c72980eb30ed3f355e71582b7c0f488cbb81c7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 626, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 778, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 825, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 894, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbe8875598b3c5706a2b8047f273c40e1384f6c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.056m", "score": 0.0}, {"step": 294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.056m", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.050m", "score": 0.0}, {"step": 782, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.056m", "score": 0.0}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 805, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 835, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.148m", "score": 0.0}, {"step": 852, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.068m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69822b5ceb3bcf6d9959cc00e28f795d4a494d2
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 2, "success": true, "final_step": 677, "events": [{"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.057m", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9319c06ea29b1aab34bbd1041d868d99ef6bd29f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 719, "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3e35f2bf6bc6559b997e994d6439e7f0edf918
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 623, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.053m", "score": 0.0}, {"step": 637, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 655, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.057m", "score": 0.0}, {"step": 689, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.059m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.065m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.060m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_13' nudged 0.070m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.073m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.066m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.066m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.058m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.068m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.064m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_13' nudged 0.069m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.073m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.075m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.074m", "score": 0.0}, {"step": 698, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.059m", "score": 0.0}, {"step": 699, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.064m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.096m", "score": 0.0}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.108m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..002a841404d8893f0880bd0335140db002e5cc34
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4a07dfded29fb81196eeae75bfd53e0357b11c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_7_env0.json
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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PinkSpoonInPotTask/log_9_env0.json
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"body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f6547eca700>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f6547e4ee80>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e91f3f12ec968c64b373e4cb3b2cc7ff626c1e8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 2295, "events": [{"step": 390, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 577, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.088m", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 999, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1944, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2295, "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/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..265417ba19a7e560d1c7c8e26efd6f644620cadb
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 2554, "events": [{"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "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=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1374, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.0}, {"step": 1531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 2042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 2161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2549, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 2554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2554, "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/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5221f221d4208dda9bf5c582400cc6fc83e59f21
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 307, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1303, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 2438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2611, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece91d92144a8e4e047e47e51e2557deb26019e5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "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=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.135m", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.059m", "score": 0.0}, {"step": 544, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 544, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 547, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 557, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.093m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.081m", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 763, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 977, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1032, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1035, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1053, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1054, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1055, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1061, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.097m", "score": 0.0}, {"step": 1558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1608, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1620, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1696, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1709, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1712, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1714, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1730, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1909, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1933, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1937, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1939, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1950, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1991, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2002, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2006, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2057, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2059, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2060, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2066, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2067, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2068, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2186, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2187, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.120m", "score": 0.0}, {"step": 2311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.073m", "score": 0.0}, {"step": 2504, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 2603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2604, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 2645, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..895b52660a810ebbf28a394b6a04929886908978
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.067m", "score": 0.0}, {"step": 441, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.062m", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 909, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 949, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1989, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1989, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2591, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 2631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.133m", "score": 0.0}, {"step": 2642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef316443e5db960341b5be798ab1dd69d7d4637f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.139m", "score": 0.0}, {"step": 343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.082m", "score": 0.0}, {"step": 378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.100m", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.328m", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 825, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 840, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.729m", "score": 0.0}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.309m", "score": 0.0}, {"step": 926, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1009, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1539, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1722, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1728, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1908, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 2260, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.079m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e39838ddb48d04020541e835a2f3f8c261678f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 483, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.089m", "score": 0.0}, {"step": 486, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 967, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 967, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.081m", "score": 0.3333333333333333}, {"step": 1637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1707, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1735, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1746, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1746, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.3333333333333333}, {"step": 1748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 2022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.3333333333333333}, {"step": 2300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2513, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.077m", "score": 0.3333333333333333}, {"step": 2632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7100a7b035e3bc3568f511a000811c66b5c996b0
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.097m", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 792, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.066m", "score": 0.0}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1326, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1543, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1638, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1825, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 1862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1862, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1994, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 2011, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 2147, "code": 256, "name": 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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_8_env0.json
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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PlasticBottlesInSquarePailTask/log_9_env0.json
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"isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["ceramic_mug", "mug", "mug_01"], "container": "wireshelving_a01", "require_contact_with": true, "require_gripper_detached": true, "logical": "choose", "K": 2}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='ceramic_mug', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug_01": [["functools.partial(<function object_grabbed at 0x7f67afcb8b80>, object='mug_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f67afc3eac0>, object='mug_01', container='wireshelving_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 2, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutTwoMugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put two (2) mugs on the wire shelf", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Put two (2) mugs on the wire shelf", "vague": "Put the mugs on shelf", "specific": "Select two mugs from the right side of the table and place them on the wire shelf in front of you"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff2c7428ec30db6e38d85ce9713af9c3dfa52f9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 2576, "events": [{"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1232, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 1616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1957, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1957, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 1958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 1959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 2173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2576, "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/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..771f059d4f4f1afdd472bb6ccb7be668f784d618
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 799, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1078, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1393, "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": 0.5}, {"step": 2138, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 2281, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 2406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.075m", "score": 0.5}, {"step": 2406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.065m", "score": 0.5}, {"step": 2410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.075m", "score": 0.5}, {"step": 2411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.073m", "score": 0.5}, {"step": 2414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.061m", "score": 0.5}, {"step": 2579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.076m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.076m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.074m", "score": 0.5}, {"step": 2619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.054m", "score": 0.5}, {"step": 2619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.073m", "score": 0.5}, {"step": 2643, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.5}, {"step": 2645, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wireshelving_a01'", "score": 0.5}, {"step": 2645, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.5}, {"step": 2650, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 1.038m", "score": 0.5}, {"step": 2652, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wireshelving_a01' displaced 0.908m", "score": 0.5}, {"step": 2654, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 0.962m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64e001016925b06a817fd3d3b544206e355b8ac
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 2, "success": true, "final_step": 2422, "events": [{"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 536, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 536, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1036, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 1056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2422, "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/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ebc6819a137890f5d25c063efd01606614ee483
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 814, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.068m", "score": 0.0}, {"step": 819, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_big'", "score": 0.0}, {"step": 822, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_big' displaced 0.978m", "score": 0.0}, {"step": 979, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1055, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1851, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 2595, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 2598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.087m", "score": 0.5}, {"step": 2603, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.058m", "score": 0.5}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.254m", "score": 0.5}, {"step": 2615, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.5}, {"step": 2623, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 1.482m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7077c46b7cc90bc42579d03a28444d4140ae4525
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.056m", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.064m", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.056m", "score": 0.0}, {"step": 1604, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.067m", "score": 0.0}, {"step": 1659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.085m", "score": 0.0}, {"step": 1659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.075m", "score": 0.0}, {"step": 1667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.068m", "score": 0.0}, {"step": 1695, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wireshelving_a01'", "score": 0.0}, {"step": 1695, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.0}, {"step": 1696, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 1701, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.971m", "score": 0.0}, {"step": 1709, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wireshelving_a01' displaced 1.016m", "score": 0.0}, {"step": 1846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e98072b49a56ba85b08886b951a4965ccc95c2e
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.427m", "score": 0.0}, {"step": 2614, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.276m", "score": 0.0}, {"step": 2616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.140m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e8a368ced2b8726635d7ef30aec43e49ef4ed6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 922, "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=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug_01, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 1453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 1844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 2073, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.261m", "score": 1.0}, {"step": 2267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1159432fea247c36ba7e9f890badae16c790f53
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1010, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2659, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug', 'mug_01'])", "score": 0.0}, {"step": 2659, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f5041421cd36789a45273251be035d7678561
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 227, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1088, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1623, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 1626, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug', 'mug_01'])", "score": 0.5}, {"step": 1636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 2018, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2018, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 2024, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.051m", "score": 0.5}, {"step": 2029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.094m", "score": 0.5}, {"step": 2417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c16410f09da4b020f3daab83c2846cf7dda92a7b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/PutTwoMugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 301, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..84efb08fe3ad466b19d815c85e71b9ebad011361
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 641, "events": [{"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 641, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e525edbadee2128f0b64f8f79f8dd03b16accd
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 779, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 895, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba630ba22409849d409fe50b863117b638d008c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 880, "events": [{"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 664, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 790, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 880, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6cd21c632c4b5a8263460bec8b5fe70acf31ad
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 721, "events": [{"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 721, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a06f336a08b5dfafb91262da06e69c4c81ef0a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 765, "events": [{"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 518, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 765, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9daebeb7f6c46cfafab8a73f958d20ebd304da54
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 832, "events": [{"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 517, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 832, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe9fa90fb83945b436987467025ff8ffc610866
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 629, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 341, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 1.0}, {"step": 629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 629, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 629, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1249998fe001aaa27f3b1c72c3121868ffae193
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 886, "events": [{"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 420, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 766, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 886, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f181c088f0459387c961a2030bcd35b955bebbc
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 734, "events": [{"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 452, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 734, "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/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f2d6f057565b53fa597a7b35e6830efe8afce3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedDishesInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 881, "events": [{"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f9829ae0dca45c6a167e632665f54bdb8fb135
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 675, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.074m", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 716, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a732ffbcfb601ed1279e8221de3f70363d8bec
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 630, "events": [{"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 322, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 630, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc724970d1badfd3b1b9d23b4b17a126644fbb5
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 798, "events": [{"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 393, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 798, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d53bd5fe53a501c8a50c04fc096582da3105648
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 609, "events": [{"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 354, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 609, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..910cab95b693e75036fb59ab3f224fa1b90e6801
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 620, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 314, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 620, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..590c30f1dac7a7fc47d8cfdaba85f208e70a8652
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 809, "events": [{"step": 148, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 588, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 809, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffad5582e22244e83b20e003d99d6f17fc8980f8
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 889, "events": [{"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 480, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 619, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 743, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 889, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df20a0c00caec2390d1978f9402aef238b3eb29
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 864, "events": [{"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 360, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 540, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 864, "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/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b47cc1c3fcf1172cc846327443a4febc80f2d51
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/RedItemsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
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tipped on its side place it upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6ebd2b2c084797fa3234137b7938efabbf1d7d
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 0, "success": true, "final_step": 781, "events": [{"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.090m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.068m", "score": 0.0}, {"step": 278, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 279, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.075m", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.191m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.133m", "score": 0.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.125m", "score": 0.0}, {"step": 370, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 603, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 723, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 748, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.100m", "score": 0.5}, {"step": 759, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e79d0ad59e16f2cfdd6e538e165970a790e80da
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 388, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 493, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.102m", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 667, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 809, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 818, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9969ab6cce23fdbdf1dd6ae9126155097c81dbad
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 2, "success": true, "final_step": 719, "events": [{"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.231m", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.050m", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.192m", "score": 0.5}, {"step": 717, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3085c8539b9783e24b40d1c767288d7eae7351a9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.060m", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 507, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 519, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 647, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 664, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.064m", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 732, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.074m", "score": 0.5}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 765, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 789, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 854, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d57419f8e3852d26ac52c2d79d36511972117c7
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.333m", "score": 0.5}, {"step": 259, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 265, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.110m", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 404, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 407, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 599, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 599, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.5}, {"step": 621, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 622, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 638, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.055m", "score": 0.0}, {"step": 722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 790, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 790, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 806, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 819, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.072m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.080m", "score": 0.0}, {"step": 855, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.082m", "score": 0.0}, {"step": 874, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 875, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 882, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9403e77ffb5cf346610c1517b8acad460aba48
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 142, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.056m", "score": 0.0}, {"step": 268, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 319, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.050m", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 609, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.130m", "score": 0.5}, {"step": 750, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.5}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 761, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.068m", "score": 0.0}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 864, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 865, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.089m", "score": 0.5}, {"step": 879, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 879, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 894, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 894, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 895, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee4f60b35c373f0dee8b857cdf9f7c986b3fb9a
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 6, "success": true, "final_step": 826, "events": [{"step": 110, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.054m", "score": 0.0}, {"step": 399, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 423, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.137m", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 694, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 694, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ea4c9dfeed0c3ba383de059174c7540acbd51
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 235, 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7047a7b582c00d7b2a260b5efb3ddaec8c86ca6
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 8, "success": true, "final_step": 510, "events": [{"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.059m", "score": 0.5}, {"step": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c19bad65219e1b12f2f3403f76d1a7743fcaf55
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientJugTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 9, "success": true, "final_step": 788, "events": [{"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.071m", "score": 0.0}, {"step": 339, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for reorienting_jug.", "score": 0.5}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 765, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_jug' 1/1", "score": 1.0}]}
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require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0781cc00616a0dcdf9c6cd9e94944d0b93339f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 254, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 363, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.162m", "score": 0.0}, {"step": 565, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.095m", "score": 0.0}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.107m", "score": 0.0}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.119m", "score": 0.0}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.339m", "score": 0.0}, {"step": 651, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.298m", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.114m", "score": 0.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.135m", "score": 0.0}, {"step": 752, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.244m", "score": 0.0}, {"step": 804, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.292m", "score": 0.0}, {"step": 837, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.159m", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.075m", "score": 0.0}, {"step": 890, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7a37d98c7d61217b29707ac46142ac38905732
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 199, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 294, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 380, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 391, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 458, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.066m", "score": 0.5}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.136m", "score": 0.5}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.108m", "score": 0.0}, {"step": 564, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 687, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.5}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 771, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.062m", "score": 0.5}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.198m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..573bea3d263de2ab70761b6e263c3ec9574ff146
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 398, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 398, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 415, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.120m", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 622, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 749, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 755, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 787, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 883, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.055m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b0c78968a2ce0454a06f66b76a4d4f8220f274
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 242, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.066m", "score": 0.5}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 259, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 278, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.783m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ec322d45c6569f6ee28b2acf199b05846f86a3
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.103m", "score": 0.5}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.204m", "score": 0.5}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.136m", "score": 0.5}, {"step": 381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.062m", "score": 0.5}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.116m", "score": 0.5}, {"step": 524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.113m", "score": 0.5}, {"step": 544, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 544, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.087m", "score": 0.5}, {"step": 729, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.239m", "score": 0.5}, {"step": 760, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.148m", "score": 0.5}, {"step": 781, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.052m", "score": 0.5}, {"step": 813, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.126m", "score": 0.5}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.123m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b072990c7a42d3f5b7b02047512649736b929b82
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 5, "success": true, "final_step": 721, "events": [{"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 165, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 205, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.170m", "score": 0.0}, {"step": 241, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.130m", "score": 0.0}, {"step": 303, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 409, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 595, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 648, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.084m", "score": 0.5}, {"step": 686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.056m", "score": 0.5}, {"step": 698, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..221b31ac918d27947e01c7738d244fecc06e499f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.094m", "score": 0.0}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 532, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 535, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 630, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.072m", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ab4519cca5deca2b0cbecf334be09c18531df9
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 235, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.079m", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.226m", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.130m", "score": 0.0}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 448, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 479, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 517, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.118m", "score": 0.0}, {"step": 542, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.129m", "score": 0.0}, {"step": 555, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 628, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.233m", "score": 0.0}, {"step": 670, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.194m", "score": 0.0}, {"step": 727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 735, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.138m", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.061m", "score": 0.0}, {"step": 786, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 804, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 808, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.070m", "score": 0.5}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 828, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 829, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 834, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.123m", "score": 0.5}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 840, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.224m", "score": 0.5}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f4f7ad8daf7a2311f525a24653bd2cfd1b5f665
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.090m", "score": 0.0}, {"step": 362, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 444, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.170m", "score": 0.5}, {"step": 481, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.216m", "score": 0.5}, {"step": 515, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.174m", "score": 0.5}, {"step": 539, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.088m", "score": 0.5}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.204m", "score": 0.5}, {"step": 587, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.262m", "score": 0.5}, {"step": 588, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.093m", "score": 0.5}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 611, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.059m", "score": 0.5}, {"step": 612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.150m", "score": 0.5}, {"step": 636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 639, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.058m", "score": 0.5}, {"step": 710, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.092m", "score": 0.5}, {"step": 742, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.401m", "score": 0.5}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 784, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.086m", "score": 0.0}, {"step": 825, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 3.778m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f69eae516dc0af24d67eb95fcb6ef52b200a6d4
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 194, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 339, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 340, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 448, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.427m", "score": 0.0}, {"step": 524, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.215m", "score": 0.0}, {"step": 564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.211m", "score": 0.0}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.164m", "score": 0.0}, {"step": 709, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 868, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 881, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.136m", "score": 0.0}, {"step": 891, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_0.hdf5 b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_0.hdf5
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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_1.hdf5 b/full_task_1x/2026-09-30_14-45-15_harness/ReorientWhiteMugsTask/run_1.hdf5
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"joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["rubiks_cube", "rubiks_cube_1", "rubiks_cube_2"], "order": "None"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cube_0_and_1": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_1'], order=None)", 1.0]], "cube_0_and_2": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_2'], order=None)", 1.0]], "cube_1_and_2": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube_1', 'rubiks_cube_2'], order=None)", 1.0]]}, "score": 0.5, "logical": "any", "K": null, "name": "stack_any_2_cubes"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe9fd226840>, objects=['rubiks_cube', 'rubiks_cube_1', 'rubiks_cube_2'], order=None)", 1.0]]}, "score": 0.5, "logical": "all", "K": null, "name": "stack_all_3_cubes"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "moderate"], "_task_attributes": ["stacking", "moderate"], "_task_name": "Stack3RubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the rubiks cubes in a tower", "contact_object_list": ["rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "table"], "_instruction_variants": {"default": "Stack the rubiks cubes in a tower", "vague": "Stack everything in a tower", "specific": "Pick up the rubiks cubes and stack them vertically on top of each other on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7e0002ff87723af7a9317ec9419e005b3cfd7c
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 621, "events": [{"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 181, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.220m", "score": 0.0}, {"step": 326, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 336, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 477, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.328m", "score": 0.5}, {"step": 621, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b309274731866782e93bd1f763cbd6a02a0a17
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 757, "events": [{"step": 201, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 279, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.193m", "score": 0.0}, {"step": 298, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 308, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 326, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 332, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.064m", "score": 0.5}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 470, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.117m", "score": 0.5}, {"step": 513, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 515, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 532, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 646, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 724, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.328m", "score": 0.5}, {"step": 757, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ba9f0aa8294141c7f146ff70239201e2d35b64
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 788, "events": [{"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 318, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 354, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.0}, {"step": 384, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.119m", "score": 0.0}, {"step": 428, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 432, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 435, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 444, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 590, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 624, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 637, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 639, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.091m", "score": 0.5}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.136m", "score": 0.5}, {"step": 776, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.210m", "score": 0.5}, {"step": 788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 1.0}, {"step": 788, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..590275c080257aa9a40cfa885fa83ffc979a8373
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 874, "events": [{"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 297, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 559, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.279m", "score": 0.0}, {"step": 587, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 589, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 591, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 592, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 597, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.068m", "score": 0.5}, {"step": 648, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 652, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 653, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 658, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 662, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 664, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 668, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.087m", "score": 0.5}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 812, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 812, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 813, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.154m", "score": 0.5}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.185m", "score": 0.5}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 874, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58fe1b55e592fd2e866444ef2ba551e9f70912b
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 634, "events": [{"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 206, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.066m", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.148m", "score": 0.0}, {"step": 302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 302, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 507, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.137m", "score": 0.5}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.263m", "score": 0.5}, {"step": 634, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaa2c6d8b95f90740c1d0235a32106dd7f926325
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 161, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.0}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.116m", "score": 0.0}, {"step": 332, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 365, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.5}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 550, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 551, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 559, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.278m", "score": 0.5}, {"step": 678, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 681, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 683, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 764, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.095m", "score": 0.5}, {"step": 824, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.127m", "score": 0.5}, {"step": 838, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.5}, {"step": 863, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 864, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 870, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 873, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 874, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 875, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 897, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 899, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ec5f1a36329a3bd8bdf080c4878c3d0c4f14f84
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 749, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.115m", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.180m", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 401, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 515, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 678, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 679, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 718, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.348m", "score": 0.5}, {"step": 749, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d837438af530380ecca42f378aa170147244b66
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 7, "success": true, "final_step": 602, "events": [{"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_0_and_2', 'cube_1_and_2'])", "score": 0.0}, {"step": 325, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.195m", "score": 0.0}, {"step": 345, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 365, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 490, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.149m", "score": 0.5}, {"step": 576, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.261m", "score": 0.5}, {"step": 602, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb37271585f5b1ffa795ddfd0173f1600636fc86
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_8_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/Stack3RubiksCubeTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5260ce7c467ccc2fc7fc4f67df1dd79443d2450f
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 937, "code": 256, "name": 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\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d96506c7464ee58bd7e524f1332785b49c5e500
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 1, "success": true, "final_step": 2168, "events": [{"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", 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advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1671, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1964, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5431953f0f388ad3676af8d70102487cea69de39
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 532, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 736, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 951, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 959, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 959, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1060, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1065, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.0}, {"step": 1192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.059m", "score": 0.0}, {"step": 1207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.082m", "score": 0.0}, {"step": 1221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.124m", "score": 0.0}, {"step": 2004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2086, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2099, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2316, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.0}, {"step": 2333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 2681, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.071m", "score": 0.0}, {"step": 2686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..13cc9467795fb444d2a619fcbed48931422fc600
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 799, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1425, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1581, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1996, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.5}, {"step": 1996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.5}, {"step": 1997, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.5}, {"step": 2002, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.5}, {"step": 2015, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2017, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 1.087m", "score": 0.5}, {"step": 2029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.095m", "score": 0.5}, {"step": 2343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.116m", "score": 0.5}, {"step": 2344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.242m", "score": 0.5}, {"step": 2344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.310m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38c685386ace489d5c0fdf21d0d234aff92e548
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2557, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2625, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 2626, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_hammer'", "score": 1.0}, {"step": 2630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.060m", "score": 1.0}, {"step": 2640, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: [])", "score": 1.0}, {"step": 2640, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 1.0}, {"step": 2651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 1.0}, {"step": 2653, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: [])", "score": 1.0}, {"step": 2656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5300bc926c7412e4e63f6f72d2b134320abc38
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1323, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1370, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.053m", "score": 0.0}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.053m", "score": 0.0}, {"step": 1402, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'left_bin'", "score": 0.0}, {"step": 1407, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'left_bin' displaced 0.873m", "score": 0.0}, {"step": 1436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.060m", "score": 0.0}, {"step": 2058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2082, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2098, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2194, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bef6ed1476d930e7283140f5f63a89876e03db
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 901, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['husky_hammer', 'red_hammer'])", "score": 0.0}, {"step": 901, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 906, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.135m", "score": 0.0}, {"step": 926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 970, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.108m", "score": 0.0}, {"step": 975, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.072m", "score": 0.0}, {"step": 2520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2649, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6becac3c6d38ae1836e42947b36e3f80453f055
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 730, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1002, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1297, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..65857c7282196389504c3777a077d1ae07e24d16
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 909, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1666, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2508, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2629, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2629, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f42b144e8ae0877d38698ed7f33439fe5f0745
--- /dev/null
+++ b/full_task_1x/2026-09-30_14-45-15_harness/ToolOrganizationBothTask/log_9_env0.json
@@ -0,0 +1 @@
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+{"env_name": "RedDishesInBinTask", "task_name": "RedDishesInBinTask", "run_name": "RedDishesInBinTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put the red dishware in the grey bin", "attributes": ["color", "semantics", "simple"], "success": true, "episode_step": 734, "duration": 48.93333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.697993128677875, "joint_sparc_mean": -5.057405012931307, "ee_isj": 136.58879813109957, "joint_isj": 7791.992711820361, "ee_path_length": 3.1707990471057608, "joint_rmse_mean": 0.8770566476326637, "ee_speed_max": 0.17563775181770325, "ee_speed_mean": 0.06324146687984467}, "events": {"TARGET_OBJECT_DROPPED": 7, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 375.36, "policy_inference_avg_ms": 511.4, "env_step_s": 181.475, "env_step_avg_ms": 247.2, "video_write_s": 6.038, "video_write_avg_ms": 8.2, "wall_total_s": 562.873, "it_per_sec": 1.3}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "RedDishesInBinTask", "task_name": "RedDishesInBinTask", "run_name": "RedDishesInBinTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put the red dishware in the grey bin", "attributes": ["color", "semantics", "simple"], "success": true, "episode_step": 881, "duration": 58.733333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.1069667023985303, "joint_sparc_mean": -6.345798204039879, "ee_isj": 399.2573875996803, "joint_isj": 45749.38436546916, "ee_path_length": 3.627795774171105, "joint_rmse_mean": 0.9322093059365857, "ee_speed_max": 0.30804046988487244, "ee_speed_mean": 0.0595821812748909}, "events": {"TARGET_OBJECT_DROPPED": 11, "GRIPPER_FULLY_CLOSED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 474.454, "policy_inference_avg_ms": 538.5, "env_step_s": 218.074, "env_step_avg_ms": 247.5, "video_write_s": 7.07, "video_write_avg_ms": 8.0, "wall_total_s": 699.597, "it_per_sec": 1.26}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": true, "episode_step": 2576, "duration": 171.73333333333332, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.57073220321011, "joint_sparc_mean": -7.98964912290826, "ee_isj": 271.2073521111682, "joint_isj": 20915.183471429773, "ee_path_length": 6.802971793274054, "joint_rmse_mean": 1.0161735221683992, "ee_speed_max": 0.16985900700092316, "ee_speed_mean": 0.03993329405784607}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 7}, "instruction_type": "default", "timing": {"policy_inference_s": 854.569, "policy_inference_avg_ms": 331.7, "env_step_s": 914.141, "env_step_avg_ms": 354.9, "video_write_s": 17.967, "video_write_avg_ms": 7.0, "wall_total_s": 1786.677, "it_per_sec": 1.44}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.024205283718819, "joint_sparc_mean": -12.128033435636114, "ee_isj": 305544.0292432118, "joint_isj": 4032337.7591481935, "ee_path_length": 12.874418803389887, "joint_rmse_mean": 1.1580699934320218, "ee_speed_max": 5.890926361083984, "ee_speed_mean": 0.07789841294288635}, "events": {"TARGET_OBJECT_DROPPED": 22, "GRIPPER_FULLY_CLOSED": 6, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 10, "OBJECT_OUT_OF_SCENE": 3, "OBJECT_MOVED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 1058.392, "policy_inference_avg_ms": 392.0, "env_step_s": 964.387, "env_step_avg_ms": 357.2, "video_write_s": 18.61, "video_write_avg_ms": 6.9, "wall_total_s": 2041.388, "it_per_sec": 1.32}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": true, "episode_step": 2422, "duration": 161.46666666666667, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.099233601345924, "joint_sparc_mean": -8.125108892583597, "ee_isj": 270.80404502897454, "joint_isj": 21011.166010012923, "ee_path_length": 8.19159989754817, "joint_rmse_mean": 1.1455635357541698, "ee_speed_max": 0.1235864907503128, "ee_speed_mean": 0.04902851954102516}, "events": {"GRIPPER_FULLY_CLOSED": 8, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 978.241, "policy_inference_avg_ms": 403.9, "env_step_s": 833.701, "env_step_avg_ms": 344.2, "video_write_s": 17.015, "video_write_avg_ms": 7.0, "wall_total_s": 1828.957, "it_per_sec": 1.32}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.266364610751385, "joint_sparc_mean": -7.770171332528819, "ee_isj": 889.3555215407623, "joint_isj": 99079.86989868271, "ee_path_length": 5.988946924216731, "joint_rmse_mean": 1.3470360515307853, "ee_speed_max": 0.45327937602996826, "ee_speed_mean": 0.040394723415374756}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 9, "OBJECT_BUMPED": 4, "OBJECT_OUT_OF_SCENE": 2, "OBJECT_MOVED": 2, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 1188.038, "policy_inference_avg_ms": 440.0, "env_step_s": 972.809, "env_step_avg_ms": 360.3, "video_write_s": 18.8, "video_write_avg_ms": 7.0, "wall_total_s": 2179.647, "it_per_sec": 1.24}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.0578427263447665, "joint_sparc_mean": -8.00829337887541, "ee_isj": 688.563475983083, "joint_isj": 22894.218632864366, "ee_path_length": 7.031844809841586, "joint_rmse_mean": 1.5742251075544982, "ee_speed_max": 0.37491804361343384, "ee_speed_mean": 0.0399465337395668}, "events": {"TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 7, "OBJECT_OUT_OF_SCENE": 3, "OBJECT_MOVED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 830.633, "policy_inference_avg_ms": 307.6, "env_step_s": 959.392, "env_step_avg_ms": 355.3, "video_write_s": 18.616, "video_write_avg_ms": 6.9, "wall_total_s": 1808.64, "it_per_sec": 1.49}, "score": 0.0, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.559287246357004, "joint_sparc_mean": -12.018904083342912, "ee_isj": 3201.201481268046, "joint_isj": 125383.73793188717, "ee_path_length": 7.110689675049596, "joint_rmse_mean": 1.651968616351711, "ee_speed_max": 0.7399023771286011, "ee_speed_mean": 0.03949497640132904}, "events": {"GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 8, "OBJECT_BUMPED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 1020.082, "policy_inference_avg_ms": 377.8, "env_step_s": 933.446, "env_step_avg_ms": 345.7, "video_write_s": 18.61, "video_write_avg_ms": 6.9, "wall_total_s": 1972.138, "it_per_sec": 1.37}, "score": 0.0, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.807018864995099, "joint_sparc_mean": -10.509266248746266, "ee_isj": 883.2565566365517, "joint_isj": 83573.21562882482, "ee_path_length": 5.922393649917393, "joint_rmse_mean": 1.3400673202622941, "ee_speed_max": 0.3492044508457184, "ee_speed_mean": 0.03538696840405464}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 9, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 698.359, "policy_inference_avg_ms": 258.7, "env_step_s": 946.047, "env_step_avg_ms": 350.4, "video_write_s": 18.764, "video_write_avg_ms": 6.9, "wall_total_s": 1663.171, "it_per_sec": 1.62}, "score": 1.0, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.798219421834954, "joint_sparc_mean": -10.18381470250237, "ee_isj": 1020.4849149487993, "joint_isj": 156153.80843148456, "ee_path_length": 7.118906990567525, "joint_rmse_mean": 1.258494748055865, "ee_speed_max": 0.2522891163825989, "ee_speed_mean": 0.04278792068362236}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 3, "WRONG_OBJECT_GRABBED": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1103.997, "policy_inference_avg_ms": 408.9, "env_step_s": 972.33, "env_step_avg_ms": 360.1, "video_write_s": 18.852, "video_write_avg_ms": 7.0, "wall_total_s": 2095.179, "it_per_sec": 1.29}, "score": 0.0, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.38383778919877, "joint_sparc_mean": -7.050944329914865, "ee_isj": 351.43604934438474, "joint_isj": 13443.47315374508, "ee_path_length": 7.49235813013562, "joint_rmse_mean": 1.2568648996162757, "ee_speed_max": 0.19329196214675903, "ee_speed_mean": 0.04032163694500923}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_FULLY_CLOSED": 10, "WRONG_OBJECT_GRABBED": 1, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 999.938, "policy_inference_avg_ms": 370.3, "env_step_s": 936.749, "env_step_avg_ms": 346.9, "video_write_s": 18.738, "video_write_avg_ms": 6.9, "wall_total_s": 1955.425, "it_per_sec": 1.38}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.023745329897409, "joint_sparc_mean": -14.807001767187957, "ee_isj": 381895.82197522925, "joint_isj": 2665350.213377101, "ee_path_length": 13.848132341198937, "joint_rmse_mean": 1.0395774716464161, "ee_speed_max": 9.837696075439453, "ee_speed_mean": 0.07767419517040253}, "events": {"TARGET_OBJECT_DROPPED": 17, "GRIPPER_FULLY_CLOSED": 9, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 1168.381, "policy_inference_avg_ms": 432.7, "env_step_s": 935.234, "env_step_avg_ms": 346.4, "video_write_s": 18.76, "video_write_avg_ms": 6.9, "wall_total_s": 2122.375, "it_per_sec": 1.27}, "score": 0.0, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "RedItemsInBinTask", "task_name": "RedItemsInBinTask", "run_name": "RedItemsInBinTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put all the red things in the grey bin", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.8692995722796155, "joint_sparc_mean": -7.052140717715794, "ee_isj": 1923.823182715451, "joint_isj": 54445.65511417828, "ee_path_length": 5.7494155946846375, "joint_rmse_mean": 0.9765555107794699, "ee_speed_max": 0.6880292296409607, "ee_speed_mean": 0.09066969901323318}, "events": {"TARGET_OBJECT_DROPPED": 13, "GRIPPER_FULLY_CLOSED": 6, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 794.32, "policy_inference_avg_ms": 882.6, "env_step_s": 221.943, "env_step_avg_ms": 246.6, "video_write_s": 7.096, "video_write_avg_ms": 7.9, "wall_total_s": 1023.358, "it_per_sec": 0.88}, "score": 0.5, "reason": "Condition not satisfied: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b59bb93b2092b015fb3de8966573be6c631054
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..803e6ed2054c998f61ae051185bedd50d9fa4347
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 858, "events": [{"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 543, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 858, "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/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca297056787884939c56ad7ff1dfa77ff53ec12
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 753, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.126m", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 942, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 947, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 947, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 951, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.080m", "score": 0.0}, {"step": 1061, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1211, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yogurt_cup, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yogurt_cup. All conditions satisfied for yogurt_cup.", "score": 0.5}, {"step": 1571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['yogurt_cup', 'apple_01'])", "score": 0.5}, {"step": 1571, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 1574, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.5}, {"step": 1606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..818b45d07e2a03126e4b7119205e56a5b528ae55
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 1125, "events": [{"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['yogurt_cup', 'apple_01'])", "score": 0.0}, {"step": 474, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.063m", "score": 0.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 986, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.5}, {"step": 988, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1015, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1125, "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/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0388051be1efc6d7f3d6e45523fedfb8cfdd516f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 1144, "events": [{"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 509, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1144, "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/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..51dc07d898d00a7806229da8f13f5ee4abac028f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 815, "events": [{"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 531, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 815, "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/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c8d6f8136c0c4c5fabb4899bb2269257105412
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 1168, "events": [{"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 636, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 865, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1168, "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/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab667fafe0d58e008aa32683f79cce74eb7b33a1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/AppleAndYogurtInBowlTask/log_7_env0.json
@@ -0,0 +1 @@
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"slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fe440312b60>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1253b09a172ce91ebfb1d6f08d6a60247809b663
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 1065, "events": [{"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 469, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 474, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.219m", "score": 0.33}, {"step": 634, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 634, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 779, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 793, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.376m", "score": 0.66}, {"step": 944, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 944, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1065, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7ff1188c8ab4215a0ac44cba28a34453352651
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 1328, "events": [{"step": 206, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 341, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.201m", "score": 0.33}, {"step": 477, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 642, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 796, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 803, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 814, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.262m", "score": 0.66}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.065m", "score": 0.66}, {"step": 922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 966, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.100m", "score": 0.66}, {"step": 1006, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 1077, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.103m", "score": 0.66}, {"step": 1249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 1328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.319m", "score": 1.0}, {"step": 1328, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c75548e577875e72b994148a7bd0a5b1b5a7994
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 1164, "events": [{"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 363, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 538, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.187m", "score": 0.33}, {"step": 621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 791, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 913, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 916, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 917, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.385m", "score": 0.66}, {"step": 1017, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.338m", "score": 0.66}, {"step": 1164, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8260d60d0be9b57af993de220a571ac996b7339e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 3, "success": true, "final_step": 1057, "events": [{"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 251, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.193m", "score": 0.33}, {"step": 463, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 614, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 618, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 733, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.383m", "score": 0.33}, {"step": 761, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 911, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1029, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.360m", "score": 0.66}, {"step": 1057, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..279bb3727117271d631c3d05cd387a540a082017
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 4, "success": true, "final_step": 1103, "events": [{"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.178m", "score": 0.0}, {"step": 483, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.078m", "score": 0.33}, {"step": 491, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 639, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 639, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 640, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 641, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 759, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.353m", "score": 0.33}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.083m", "score": 0.66}, {"step": 791, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 803, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 807, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 955, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 955, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1103, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..616ef2b47d65665d4b574dca3dea25c124f37237
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 5, "success": true, "final_step": 1163, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 362, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 363, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 368, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 496, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.211m", "score": 0.0}, {"step": 519, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 521, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 702, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 702, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 840, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 841, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.371m", "score": 0.66}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1009, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1009, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1021, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1023, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1024, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1030, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1163, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..526b9ef2dc0ea6fbd965a562edfc82cf4da1e20a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 6, "success": true, "final_step": 1004, "events": [{"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 385, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 385, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 385, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.33}, {"step": 385, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.33}, {"step": 552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.33}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 574, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 696, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.381m", "score": 0.66}, {"step": 697, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 851, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 853, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 855, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.66}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 872, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1004, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 1004, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.348m", "score": 1.0}, {"step": 1004, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6abc9443db6edc2afdf7183a4a20860ac572aa2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 7, "success": true, "final_step": 997, "events": [{"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.233m", "score": 0.0}, {"step": 457, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 586, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 718, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 720, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.380m", "score": 0.66}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 736, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 741, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 866, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 908, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.090m", "score": 0.66}, {"step": 997, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a794182123563fdb54c96d7335998cb3f98a44c3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 8, "success": true, "final_step": 1213, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 414, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 417, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 629, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.211m", "score": 0.33}, {"step": 629, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 774, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 782, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 784, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 786, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.350m", "score": 0.33}, {"step": 921, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 944, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1075, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1075, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1092, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1093, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1094, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1095, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1189, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.357m", "score": 0.66}, {"step": 1213, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60a41418245e179ce2d2bc5dabd822b6bf6600f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlockStackingSpecifiedOrderTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 9, "success": true, "final_step": 1049, "events": [{"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 469, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 485, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.208m", "score": 0.33}, {"step": 615, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.387m", "score": 0.33}, {"step": 750, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 772, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 915, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 915, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1049, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63f16df8589d2e37d62da1df0e500d7221ff46b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 2209, "events": [{"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "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": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 297, "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": 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=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "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": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 586, "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": 0.25}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 906, "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": 0.5}, {"step": 1023, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1060, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1061, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1061, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1062, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1066, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.054m", "score": 0.5}, {"step": 1157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.431m", "score": 0.5}, {"step": 1253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1377, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 1452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.314m", "score": 0.5}, {"step": 1477, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 1591, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.5}, {"step": 1701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.309m", "score": 0.5}, {"step": 1721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1860, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1938, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 2028, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2028, "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": 0.75}, {"step": 2118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2209, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b14700b198facab5ade9719433a16c3b4ea87c4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 2221, "events": [{"step": 336, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.0}, {"step": 453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.416m", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 699, "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": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 866, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 868, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 868, "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": 870, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 871, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 872, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 873, "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": 874, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 874, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 877, "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": 885, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 888, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.231m", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.101m", "score": 0.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.099m", "score": 0.0}, {"step": 950, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.057m", "score": 0.0}, {"step": 961, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.055m", "score": 0.0}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.0}, {"step": 977, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.100m", "score": 0.0}, {"step": 982, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.069m", "score": 0.0}, {"step": 983, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.084m", "score": 0.0}, {"step": 994, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 995, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 1119, "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": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1286, "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": 0.25}, {"step": 1392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.25}, {"step": 1406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['yellow_block', 'blue_block', 'red_block', 'green_block'])", "score": 0.25}, {"step": 1471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.293m", "score": 0.25}, {"step": 1501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1724, "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": 0.5}, {"step": 1816, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2071, "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": 0.75}, {"step": 2153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2221, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccc45e0850e1f369ddb883893557461f1dd670a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 1593, "events": [{"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "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": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 380, "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": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 383, "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": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 385, "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": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.0}, {"step": 388, "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": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 531, "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": 0.25}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_block). advanced 1 step(s) to step 1 for red_block.", "score": 0.25}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 832, "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": 0.5}, {"step": 1125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1244, "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": 0.75}, {"step": 1260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1593, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5bbbb495661a792e3d3e1669be471ed5bf6bbb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 2216, "events": [{"step": 276, "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": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 286, "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": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 444, "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": 0.25}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 675, "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": 0.5}, {"step": 924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 924, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 993, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.290m", "score": 0.5}, {"step": 1014, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 1016, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.062m", "score": 0.5}, {"step": 1133, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.306m", "score": 0.5}, {"step": 1349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1464, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.497m", "score": 0.5}, {"step": 1471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.116m", "score": 0.5}, {"step": 1485, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1487, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 1624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1860, "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": 0.75}, {"step": 1998, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2063, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2065, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 2066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2216, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba8fbf43fbf1cabd9f11272c36050762cabdbbc7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 1939, "events": [{"step": 259, "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": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 414, "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": 0.25}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 554, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.123m", "score": 0.25}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 597, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.052m", "score": 0.25}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.065m", "score": 0.25}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.068m", "score": 0.25}, {"step": 639, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 644, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 645, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.25}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 838, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.25}, {"step": 1005, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1079, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.301m", "score": 0.25}, {"step": 1115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.25}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1373, "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": 0.5}, {"step": 1558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_block). regressing to step 0 for green_block.", "score": 0.5}, {"step": 1578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1691, "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": 0.75}, {"step": 1818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1939, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 1.0}, {"step": 1939, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1939, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 1939, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ce035b5e99020490cd313c440a8958e84fde4f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 1528, "events": [{"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.0}, {"step": 262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "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": 373, "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=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 376, "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": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 440, "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": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 569, "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": 0.25}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 814, "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": 0.5}, {"step": 976, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1118, "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": 0.75}, {"step": 1247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.75}, {"step": 1308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1528, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b1b3bf9936ae3f585002c49158798840ffe798
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 1829, "events": [{"step": 257, "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": 262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 312, "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": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 466, "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": 0.25}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 791, "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": 0.5}, {"step": 978, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 981, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1019, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1024, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.089m", "score": 0.5}, {"step": 1025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1032, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.076m", "score": 0.5}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1381, "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": 0.75}, {"step": 1576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yellow_block). regressing to step 0 for yellow_block.", "score": 0.75}, {"step": 1691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1829, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..414f2df1f9c40ad7cf11dcfc1de71fa3d4b73239
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_7_env0.json
@@ -0,0 +1 @@
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All conditions satisfied for red_block.", "score": 0.25}, {"step": 744, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 824, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 916, "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": 0.5}, {"step": 998, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1087, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.5}, {"step": 1093, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 1272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1378, "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. 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee4d67b85f1968966b37f3aa57ba9b5b8707823
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 2241, "events": [{"step": 356, "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": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 551, "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": 0.25}, {"step": 790, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.25}, {"step": 1026, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.280m", "score": 0.25}, {"step": 1288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 1295, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1300, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1382, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.260m", "score": 0.25}, {"step": 1411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1631, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 1631, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.25}, {"step": 1631, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.25}, {"step": 1632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1632, "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 green_block.", "score": 0.75}, {"step": 2066, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.75}, {"step": 2068, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.75}, {"step": 2146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.75}, {"step": 2163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for yellow_block.", "score": 0.75}, {"step": 2241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 1.0}, {"step": 2241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2241, "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/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0053afd9e238277389c2f0630d753d0b83a3b8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/BlocksInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlocksInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 2123, "events": [{"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "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": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 525, "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": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 529, "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": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_block). regressing to step 0 for red_block.", "score": 0.0}, {"step": 531, "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": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 694, "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": 0.25}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['red_block', 'yellow_block', 'blue_block', 'green_block'])", "score": 0.25}, {"step": 826, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.25}, {"step": 854, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.154m", "score": 0.25}, {"step": 890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.232m", "score": 0.25}, {"step": 924, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.25}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1037, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1043, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1043, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1044, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1046, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1046, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1047, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1050, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.25}, {"step": 1050, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_block). regressing to step 0 for blue_block.", "score": 0.25}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_block). advanced 1 step(s) to step 1 for blue_block.", "score": 0.25}, {"step": 1149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1149, "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": 0.5}, {"step": 1262, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 1335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.234m", "score": 0.5}, {"step": 1377, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1496, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 1572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.479m", "score": 0.5}, {"step": 1755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_block). advanced 1 step(s) to step 1 for green_block.", "score": 0.5}, {"step": 1872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.75}, {"step": 1872, "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. 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\ No newline at end of file
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{"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a01', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a02', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f346a612ca0>, object='whitepackerbottle_a03', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put any white plastic bottle on the shelf", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put any white plastic bottle on the shelf", "vague": "Put a bottle on the shelf", "specific": "Pick up one of the three white plastic bottles and place it on the shelf"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..418c072063d95cd314428469d4ff43ea714df24a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc83279f0a97ad10b69575bf764be39c3acb1c29
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 718, "events": [{"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8bcae5370e62e0be875bc7c91916697fdd9bf1e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 855, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 858, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 860, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5abdc245be9c493fbf18285cc18caf7fdb139d2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 3, "success": true, "final_step": 861, "events": [{"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 349, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 354, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 861, "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/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7858420507c163f5c4a41d78df78f8cea532ba
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 456, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 478, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 1.136m", "score": 0.0}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.381m", "score": 0.0}, {"step": 868, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.285m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4979a29abf320b2f50482565f54befbeb9feeae7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/OneBottleOnShelfTask/log_9_env0.json
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"robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "cordless_drill", "surface": "table", "distance": 0.03}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_grabbed at 0x7f346a68e520>, object='cordless_drill')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_drill"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "PickDrillTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the cordless drill.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Pick up the cordless drill.", "vague": "Get the drill", "specific": "Pick up the orange cordless electric drill and lift it off the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa541a107fac4c7ae31eedf158c211e0883899
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 394, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 472, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0e22d9e5684bc3c46270cd0e102db57b5790a3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 437, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..020bf33cfeeaf1d86b634936f3d530975abcca5e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 580, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..824c31941fc5535ae2db017753be531a931b2c11
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 3, "success": false, "final_step": 600, "events": [{"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 291, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 358, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 382, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 499, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 567, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 572, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 583, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c5a865829914bd5cd3a7746537badd2b36d208
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 4, "success": false, "final_step": 600, "events": [{"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 421, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 454, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..429a21666ddadac1065191f0569f61db517c6195
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 5, "success": false, "final_step": 600, "events": [{"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 594, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d7c1afd17746b8df7f18564f60e808bc35fbff
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 6, "success": false, "final_step": 600, "events": [{"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 535, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 560, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d55165afac14e008d490cd6d309bcc35fb03110
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/PickDrillTask/log_7_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb01eff99c19744d3c0dc0009918f0b53c604025
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 692, "events": [{"step": 226, "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": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 293, "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": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 449, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 692, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cef6085a1616ef41163e629a55d5315b19f2712
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 662, "events": [{"step": 221, "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": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 233, "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": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 269, "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": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 360, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 361, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 566, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 662, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2db3c7d0baf111a4c3badcf27a45a4f0b51e83
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 666, "events": [{"step": 200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 235, "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": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 337, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 355, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 355, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 551, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 666, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_3_env0.json
new file mode 100644
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_4_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubeThenBananaTask/log_9_env0.json
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"robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 120, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["rubiks_cube", "rubiks_cube_1", "rubiks_cube_2"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7fe4403ab7e0>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7fe4403aa700>, object='rubiks_cube', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "rubiks_cube_1": [["functools.partial(<function object_grabbed at 0x7fe4403ab7e0>, object='rubiks_cube_1')", 0.0], ["functools.partial(<function object_in_container at 0x7fe4403aa700>, object='rubiks_cube_1', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "rubiks_cube_2": [["functools.partial(<function object_grabbed at 0x7fe4403ab7e0>, object='rubiks_cube_2')", 0.0], ["functools.partial(<function object_in_container at 0x7fe4403aa700>, object='rubiks_cube_2', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["sorting", "complex"], "_task_attributes": ["sorting", "complex"], "_task_name": "RubiksCubesInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Sort all rubiks cubes into the bin", "contact_object_list": ["table", "rubiks_cube", "rubiks_cube_1", "rubiks_cube_2", "grey_bin", "lizard_figurine", "birdhouse", "yellow_block", "red_block", "green_block", "blue_block", "lizard_figurine_01"], "_instruction_variants": {"default": "Sort all rubiks cubes into the bin", "vague": "Put away rubiks cubes", "specific": "Pick up only the three rubiks cube from the table and place them all into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..36871cb338bcf0d557c0d52ca28973a2a14389c4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 1611, "events": [{"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 513, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 530, "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": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 681, "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": 816, "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": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.3333333333333333}, {"step": 1000, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.3333333333333333}, {"step": 1039, "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": 1158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1158, "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": 0.6666666666666666}, {"step": 1169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1456, "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": 0.6666666666666666}, {"step": 1611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1611, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f740418f19eeb7220a656368c644d2e7aab24258
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1146, "events": [{"step": 331, "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": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 351, "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": 471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 471, "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": 611, "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": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 627, "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": 628, "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": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 630, "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": 631, "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": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 756, "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": 0.6666666666666666}, {"step": 894, "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": 0.6666666666666666}, {"step": 921, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 921, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.6666666666666666}, {"step": 1001, "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": 0.6666666666666666}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1146, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..14dff7dc9f6c117f37ea057a4eb25f2f2262b66a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 1393, "events": [{"step": 384, "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": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 543, "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": 769, "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": 929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 929, "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": 0.6666666666666666}, {"step": 1116, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.6666666666666666}, {"step": 1191, "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": 0.6666666666666666}, {"step": 1194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.6666666666666666}, {"step": 1196, "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": 0.6666666666666666}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1393, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aefd5d1b7fe14e8188a885f5ac18de634531917
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 1496, "events": [{"step": 246, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 277, "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": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 409, "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": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 581, "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": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 592, "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": 608, "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": 629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 631, "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": 745, "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": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 752, "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": 821, "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": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 862, "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": 901, "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": 1051, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1051, "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": 0.6666666666666666}, {"step": 1220, "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": 0.6666666666666666}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.6666666666666666}, {"step": 1265, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.6666666666666666}, {"step": 1344, "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": 0.6666666666666666}, {"step": 1496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1496, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d1939f59695506f17911aec52ca47d7dd735db
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 1303, "events": [{"step": 241, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.068m", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.064m", "score": 0.0}, {"step": 382, "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": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 439, "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": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "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": 559, "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": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 693, "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": 715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1021, "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": 0.6666666666666666}, {"step": 1169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.6666666666666666}, {"step": 1303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1303, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b40d1c4d04e165444abe4fb538c4b2b95b6564eb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 1741, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "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": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "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": 303, "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": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "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": 322, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 329, "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": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 352, "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": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 487, "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": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 722, "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": 824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 824, "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": 0.6666666666666666}, {"step": 947, "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": 0.6666666666666666}, {"step": 986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1070, "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": 0.6666666666666666}, {"step": 1091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1213, "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": 0.6666666666666666}, {"step": 1215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1392, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6666666666666666}, {"step": 1422, "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": 0.6666666666666666}, {"step": 1426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1427, "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": 0.6666666666666666}, {"step": 1434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1486, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.6666666666666666}, {"step": 1501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['rubiks_cube_1', 'rubiks_cube_2', 'rubiks_cube'])", "score": 0.6666666666666666}, {"step": 1535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.150m", "score": 0.6666666666666666}, {"step": 1551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.6666666666666666}, {"step": 1643, "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": 0.6666666666666666}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1741, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0691620a14ad9d2767c2be378f5cef4f4c0ec0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 1377, "events": [{"step": 297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 330, "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": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 346, "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": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 521, "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": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 661, "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": 816, "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": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 829, "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": 866, "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": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.3333333333333333}, {"step": 868, "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": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1006, "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": 0.6666666666666666}, {"step": 1171, "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": 0.6666666666666666}, {"step": 1183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.6666666666666666}, {"step": 1245, "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": 0.6666666666666666}, {"step": 1377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1377, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fd412551ff56575678da5aab23e8e630c86bc22
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 1561, "events": [{"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "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": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "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": 678, "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": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "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": 706, "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": 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=rubiks_cube_1). regressing to step 0 for rubiks_cube_1.", "score": 0.0}, {"step": 733, "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": 866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 866, "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": 1024, "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": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1031, "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": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1151, "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": 0.6666666666666666}, {"step": 1291, "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": 0.6666666666666666}, {"step": 1311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1317, "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": 0.6666666666666666}, {"step": 1335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1416, "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": 0.6666666666666666}, {"step": 1417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1431, "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": 0.6666666666666666}, {"step": 1561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1561, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 1561, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a6827fc7713db4d90d09740b964f225f26b5a6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubesInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 1779, "events": [{"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_2). advanced 1 step(s) to step 1 for rubiks_cube_2.", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 785, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.122m", "score": 0.0}, {"step": 1291, "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": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1386, "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": 1476, "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": 1483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.3333333333333333}, {"step": 1493, "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": 1566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1566, "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": 0.6666666666666666}, {"step": 1650, "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": 0.6666666666666666}, {"step": 1668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_2). regressing to step 0 for rubiks_cube_2.", "score": 0.6666666666666666}, {"step": 1706, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.6666666666666666}, {"step": 1721, "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": 0.6666666666666666}, {"step": 1779, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1779, "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/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfad25e849cb9af4cdedad8d903c36cfbb11e7eb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/RubiksCubesInBinTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33f12d770db99f36cfd37df72c4846121414d30
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 801, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 507, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 523, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 801, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a3357719e1ac0afbaa54d825823201ed065bdc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 654, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 654, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a209771693a1534ad904b64a9af56d856fb20ede
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 636, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 636, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f858ad996329d9fcaaf1beb59dc177598b38b9f6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 480, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 480, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa6e244be7c8516d437401b40fe30f3cdf551e83
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 661, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 661, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6fbe7d56ef36ef791d4b6595791219cfd086d70
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 621, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 631, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 771, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 771, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 774, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 775, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 789, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 817, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f758fc3feaa067cef455ce997b0db10a1518cd
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 765, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 765, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b241e75bb9cd5039b7c0184e922e22f3840b4f0a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 282, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 319, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.062m", "score": 0.0}, {"step": 321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 606, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 608, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 678, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 709, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 716, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 718, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 775, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 836, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 852, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.129m", "score": 0.0}, {"step": 852, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a03'", "score": 0.0}, {"step": 857, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a03' displaced 0.688m", "score": 0.0}, {"step": 871, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a03' nudged 0.060m", "score": 0.0}, {"step": 892, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed435d4aa9732db7cecd7c898d7bb4b098363508
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 653, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 190, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 385, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 653, "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/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..501c2db414a0e31d2e1e956f71a88d50b503bf23
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmallPumpkinInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 534, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d3a1bf9f588ac9ac925be2fb637e110dbed9c6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 686, "events": [{"step": 243, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.143m", "score": 0.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.122m", "score": 0.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.054m", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.099m", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.076m", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 569, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 578, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.057m", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 686, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa8cb1789d946c125a6e954b37858fc12b45ea8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 518, "events": [{"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 518, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 518, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..85efd1cc83c603235797c902e5be822049aa7507
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 486, "events": [{"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 486, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62375298812c4a0d936a29228616cdf085f011e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 465, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 465, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be54c6eaee4d93c41acb381596627a062edcb3d1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 546, "events": [{"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 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=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 546, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae02a0e05117f6b0d74934574724fc492254028c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 243, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.065m", "score": 0.0}, {"step": 416, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.126m", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 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=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 586, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for 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"OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0a6b4e84fa9ac1067e9a915d6eb3feacb5b528
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 351, "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=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 508, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['smartphone'])", "score": 0.0}, {"step": 822, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 831, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 888, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['smartphone'])", "score": 0.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dbdd4de6cf3f5dddc8c3566f11351b4db30b5a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 546, "events": [{"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 301, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 303, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 546, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9e07c7ba5e562722f37a7798ba584439aabe4b0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 8, "success": true, "final_step": 435, "events": [{"step": 280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 431, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 435, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_9_env0.json
new file mode 100644
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--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 407, "events": [{"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 407, "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/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-50-49_harness/SmartphoneInBinTask/run_0.hdf5
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a49772e6cd8dcb2c00a80ab4b7cc9381fdf36f9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b0aaeaf973fcbf9860a6a67a9c52c5d994bcc4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.0}, {"step": 543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.0}, {"step": 564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 743, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 900, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.3333333333333333}, {"step": 1287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.3333333333333333}, {"step": 1290, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1293, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.3333333333333333}, {"step": 1294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1443, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2059, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 2297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2360, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.071m", "score": 0.6666666666666666}, {"step": 2400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 2413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 2494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 2615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 2644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0b655419f8e7ad76d965def47d421f79001d44
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 2, "success": true, "final_step": 2227, "events": [{"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 372, "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=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 715, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 715, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1047, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 1049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1276, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.3333333333333333}, {"step": 1491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1898, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.6666666666666666}, {"step": 1898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1898, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1898, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1905, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 2072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2227, "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/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ecf0d80db6775b3d2905b1f4c578869c7722f5
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 677, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 919, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1012, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1109, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.3333333333333333}, {"step": 1134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1153, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.3333333333333333}, {"step": 1168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1672, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1701, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2016, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 2031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 2657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5dea2fff035c027e7e59f98570d6eacec15edb4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 651, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.075m", "score": 0.3333333333333333}, {"step": 786, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.060m", "score": 0.3333333333333333}, {"step": 810, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.095m", "score": 0.3333333333333333}, {"step": 813, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.068m", "score": 0.3333333333333333}, {"step": 820, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.081m", "score": 0.3333333333333333}, {"step": 821, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.091m", "score": 0.3333333333333333}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.306m", "score": 0.3333333333333333}, {"step": 882, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 888, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.085m", "score": 0.3333333333333333}, {"step": 889, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.153m", "score": 0.3333333333333333}, {"step": 889, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.102m", "score": 0.3333333333333333}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.235m", "score": 0.3333333333333333}, {"step": 892, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.228m", "score": 0.3333333333333333}, {"step": 894, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_13' nudged 0.332m", "score": 0.3333333333333333}, {"step": 894, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.231m", "score": 0.3333333333333333}, {"step": 899, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'anza_medium'", "score": 0.3333333333333333}, {"step": 904, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'anza_medium' displaced 0.895m", "score": 0.3333333333333333}, {"step": 925, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.295m", "score": 0.3333333333333333}, {"step": 1932, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.083m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a99c61cb4ca4a4ffe2081a588a069382dc0c0af8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 5, "success": true, "final_step": 1860, "events": [{"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 496, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 611, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1111, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1494, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.6666666666666666}, {"step": 1546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1823, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1860, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..01fd0ba2cc45832b9174c2350b45f3da18008446
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 6, "success": true, "final_step": 1994, "events": [{"step": 424, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.0}, {"step": 424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.0}, {"step": 449, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 634, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 883, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1001, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1015, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1053, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1055, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1446, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1677, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 1946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 1962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1990, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1990, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 1994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df916f8a6861d0634e559d730d5916ce9f0bce86
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"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=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 618, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.168m", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 779, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 808, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.098m", "score": 0.3333333333333333}, {"step": 868, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.053m", "score": 0.3333333333333333}, {"step": 878, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.071m", "score": 0.3333333333333333}, {"step": 896, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.055m", "score": 0.3333333333333333}, {"step": 1356, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1356, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 1416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_serving_spoon). regressing to step 0 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 1613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.6666666666666666}, {"step": 1872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1872, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1885, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a69d800038c241ed67009ccaba2cb04519bea3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 8, "success": false, "final_step": 2700, "events": [{"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.3333333333333333}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_serving_spoon). advanced 1 step(s) to step 1 for red_serving_spoon.", "score": 0.3333333333333333}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.3333333333333333}, {"step": 617, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 617, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_serving_spoon. All conditions satisfied for red_serving_spoon.", "score": 0.6666666666666666}, {"step": 1057, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.6666666666666666}, {"step": 1057, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1070, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}, {"step": 1080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1083, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['red_serving_spoon', 'ladle_01', 'ladle'])", "score": 0.6666666666666666}, {"step": 1086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f81dbc5fe3a965f5ddc63910f4ac58724f0522e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/SpoonsInPotTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonsInPotTask", "env_id": 0, "run": 9, "success": false, "final_step": 2700, "events": [{"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. 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{"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["sideways_white_mug", "upright_white_mug"], "order": "None"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f9f8b7b77e0>, object='sideways_white_mug')", 1.0]], "group2": [["functools.partial(<function stacked at 0x7f9f8b71a7a0>, objects=['sideways_white_mug', 'upright_white_mug'], order='None')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "moderate"], "_task_attributes": ["stacking", "color", "moderate"], "_task_name": "StackWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the white mugs on top of each other.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Stack the white mugs on top of each other.", "vague": "Stack the white mugs ", "specific": "Take a white mug and place it on top of the other white mug"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2572827ad6647799b9df1785849cf977a6ba9c45
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 0, "success": true, "final_step": 756, "events": [{"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 296, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 450, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.064m", "score": 0.5}, {"step": 661, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 661, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.5}, {"step": 662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.5}, {"step": 663, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.355m", "score": 1.0}, {"step": 756, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f093ea9da44301ca288309152898945d22f821
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 1, "success": true, "final_step": 380, "events": [{"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.408m", "score": 0.5}, {"step": 380, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed2c6170d3a813ce9f7695c3cff93f4f6698f44
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 2, "success": true, "final_step": 569, "events": [{"step": 228, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 308, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 412, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.052m", "score": 0.5}, {"step": 550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.381m", "score": 0.5}, {"step": 569, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d322fa49dc233e1b43e0fab4f3c6de75c5b7ab
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 3, "success": true, "final_step": 856, "events": [{"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.052m", "score": 0.5}, {"step": 304, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 534, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 536, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 630, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.093m", "score": 0.5}, {"step": 788, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.379m", "score": 0.5}, {"step": 828, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.077m", "score": 0.5}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 856, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e01165cd9779d726e5bb75f1d0db80d9b87abf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 238, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 253, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 1.044m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a8324675cc30c209e753f6e6bcbae3a6b462cb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 5, "success": true, "final_step": 678, "events": [{"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.094m", "score": 0.5}, {"step": 262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 272, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.312m", "score": 0.5}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 518, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 518, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 662, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.160m", "score": 0.5}, {"step": 678, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/StackWhiteMugsTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6dd13c51d0b56fc0b4f169e33561c13bb49467
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a7ffc8ef524904d037028458a26dc3fc3c09fa
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_0_env0.json
@@ -0,0 +1 @@
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"name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1107, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1682, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1733, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1763, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1774, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1774, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1779, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1779, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1780, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 1884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 1912, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 2043, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2043, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.5}, {"step": 2141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.5}, {"step": 2149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d9181dd3c2b4b7bac5182f2108714c5ef57704
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 290, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.076m", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.081m", "score": 0.0}, {"step": 1365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1587, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.057m", "score": 0.5}, {"step": 1611, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.062m", "score": 0.5}, {"step": 1620, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 1624, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.249m", "score": 0.5}, {"step": 1771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2bf8424e10f6f16bee5d06060bb63b5f8f93610
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 108, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 486, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 489, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.098m", "score": 0.0}, {"step": 777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 951, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 967, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.191m", "score": 0.0}, {"step": 997, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 1005, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.818m", "score": 0.0}, {"step": 1031, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.105m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6db3e6ccdd66398c042b9021526cf5656efffb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 733, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1016, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1310, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 1605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.083m", "score": 0.0}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 1711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.102m", "score": 0.5}, {"step": 1727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.088m", "score": 0.5}, {"step": 1732, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 0.607m", "score": 0.5}, {"step": 1735, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.099m", "score": 0.5}, {"step": 1796, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 1803, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 0.582m", "score": 0.5}, {"step": 2227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0da563f42c7b6e26560c724710c9d6bec14fce
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 2700, "events": [{"step": 293, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1074, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.119m", "score": 0.0}, {"step": 1076, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.221m", "score": 0.0}, {"step": 1778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1843, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1962, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2057, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2068, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2068, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2352, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 2523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 2645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2785c1fb4c5969f987743f893ac2a32dbecd71e3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 132, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 135, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.143m", "score": 0.5}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 394, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.5}, {"step": 449, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.312m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac1518bc5df75a30852babfa2c078182d522f350
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 6, "success": true, "final_step": 839, "events": [{"step": 31, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 92, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 108, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.345m", "score": 0.5}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.5}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 838, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.050m", "score": 0.5}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..96660075d6212597f171e07987d3a43d1c2eaf30
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_7_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/TakeMugsOffOfShelfTask/log_9_env0.json
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"flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "apple_01", "container": "plasticpail_a02", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"apple_01": [["functools.partial(<function object_grabbed at 0x7fe4403ab7e0>, object='apple_01')", 0.0], ["functools.partial(<function object_in_container at 0x7fe4403aa700>, object='apple_01', container='plasticpail_a02', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "ThrowAwayAppleTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Throw away the apple", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "pitcher", "plasticpail_a02", "apple_01", "table"], "_instruction_variants": {"default": "Throw away the apple", "vague": "Toss the apple", "specific": "Pick up the red apple from the table and drop it into the grey bin to discard it"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..332e5dafb33daf797d75304a4f894dae597ffd4c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 0, "success": true, "final_step": 787, "events": [{"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 503, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 660, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.104m", "score": 0.0}, {"step": 787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 787, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..61679c8e8b5c40dbe772ead662d0e93ba4f0b33d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 1, "success": true, "final_step": 565, "events": [{"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 565, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..48bb28a7d29bcc07f59aa17dc43e8d4f6ac753de
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 2, "success": true, "final_step": 649, "events": [{"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 649, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e4a56c4db4e0de0ca7bd29f26ce13729a286b6c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 3, "success": true, "final_step": 662, "events": [{"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 408, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 662, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb7f7fd4bbafa71c71c286bbf848a4835fed43f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 4, "success": true, "final_step": 703, "events": [{"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 703, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0caec93d56441e958083c8cb4e0e6a3508ad3137
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 5, "success": true, "final_step": 386, "events": [{"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 386, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..126d5c79b79e1aea0914dd26bed0e90998bd0f06
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 6, "success": true, "final_step": 609, "events": [{"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 609, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..324582a9633e2aea0f825c92d86644d67aeb3e99
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 7, "success": true, "final_step": 684, "events": [{"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 684, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3393cb79a34032ee31bc83976f28117dcef2e16c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 8, "success": true, "final_step": 562, "events": [{"step": 223, "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=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 562, "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/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f200973e479bcd89ef880f896c1646d138462f6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ThrowAwayAppleTask/log_9_env0.json
@@ -0,0 +1 @@
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container='left_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "color", "moderate"], "_task_attributes": ["semantics", "spatial", "color", "moderate"], "_task_name": "ToolOrganizationTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red hammer and black hammer in the left bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the red hammer and black hammer in the left bin", "vague": "Put hammers in the left bin", "specific": "Pick up the red-handled hammer and the black-handled hammer and place both in the left bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14c679242e933d6cb274bb330eb5c94774ae390
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 692, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 951, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 951, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1077, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1226, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1271, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1be708c4dcd09488de424bd7c8a623d6d3ac793
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 501, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 503, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 794, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 799, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 989, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 989, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 990, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1007, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2005, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2005, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2008, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2010, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2053, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2380, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 2528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2649, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2667, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08f203628c3baa463488ab760bd9a7f8fd8a635
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 2, "success": true, "final_step": 1721, "events": [{"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 928, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 939, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 953, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 953, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 954, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1042, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1042, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 1100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1484, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1486, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1684, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1685, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1688, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1688, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1721, "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/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e705021200910c513327c35d414b5c90843f966
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 3, "success": false, "final_step": 2700, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 650, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 785, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 798, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 800, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1191, "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_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1473, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1598, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1968, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1968, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1977, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2067, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2067, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2320, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2644, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 2646, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2695, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e30be948fbc2f5c38b160f9c6206693cf997e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 4, "success": true, "final_step": 2627, "events": [{"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1008, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1008, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1529, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.5}, {"step": 1648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1853, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.087m", "score": 0.5}, {"step": 1951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2619, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2619, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2627, "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/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e5c8d7c438f7e91869b230a1cec65d84e97b7e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 5, "success": false, "final_step": 2700, "events": [{"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 424, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 533, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 619, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 619, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1960, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1960, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1960, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..546ea0b41ef07bbd7e62588a7ae73a69c9dcac93
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 6, "success": false, "final_step": 2700, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1032, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1097, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1875, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1893, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1901, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2019, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 2402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2590, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2590, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2647, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2653, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2654, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2658, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 2659, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a00d5e90b0e63fd2658c1e954f0d037faaf0402
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationTask", "env_id": 0, "run": 7, "success": false, "final_step": 2700, "events": [{"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 514, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 774, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 774, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1292, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1718, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1720, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1808, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1961, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=left_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2615, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4922dc631612ac06e1f8672449d5ad0afcbcdca1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/ToolOrganizationTask/log_9_env0.json
new file mode 100644
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"renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4870cf3633c71d5c4b8a0a998aefa35bc7b494a7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 706, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=banana, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0fc9ce24cd5439e479957416905364ecc43c6d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 511, "events": [{"step": 156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 348, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 511, "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/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f1d080ef027b0f1a8d83601da902ff37b70e03
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 797, "events": [{"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 596, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 706, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 721, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 797, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 797, "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/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5da7827c5fa954075e0e65834627be66cac195ec
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 513, "events": [{"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 169, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 294, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 513, "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/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae010b0588649209b75483176a0c94b7add10689
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-50-49_harness/YellowAndWhiteObjectsInBinTask/log_9_env0.json
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+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_2", "run": 2, "episode": 2, "env_id": 0, "policy": "harness", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.368438312215619, "joint_sparc_mean": -8.145708217681955, "ee_isj": 170.8413823932577, "joint_isj": 9577.29247682132, "ee_path_length": 2.8623195982497744, "joint_rmse_mean": 1.0169840555099539, "ee_speed_max": 0.21211329102516174, "ee_speed_mean": 0.044665902853012085}, "events": {"GRIPPER_FULLY_CLOSED": 8, "TARGET_OBJECT_DROPPED": 2, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 655.298, "policy_inference_avg_ms": 728.1, "env_step_s": 293.682, "env_step_avg_ms": 326.3, "video_write_s": 7.222, "video_write_avg_ms": 8.0, "wall_total_s": 956.202, "it_per_sec": 0.94}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/Put_the_lizards_in_the_bin_0_viewport.mp4 b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/Put_the_lizards_in_the_bin_0_viewport.mp4
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away the animals", "specific": "Pick up the two identical green lizard figurines and place them into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e9801444a63c2e6cff9c52c3746c254cd446c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 254, "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": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 322, "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": 328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "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": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 458, "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=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 756, "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": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 988, "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": 999, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 999, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1003, "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": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1076, "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": 1077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1078, "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": 1093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1094, "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": 1117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1120, "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": 1147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1185, "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": 0.5}, {"step": 1294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1336, "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": 0.5}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21fa1709060eaf01a190abe129dbeb5702a7a2c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 228, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 272, "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": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 961, "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": 1003, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1012, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1150, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 1151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['lizard_figurine_01', 'lizard_figurine'])", "score": 0.0}, {"step": 1160, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 1161, "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": 1238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1239, "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": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1242, "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": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1253, "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": 1254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1254, "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": 0.5}, {"step": 1325, "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": 0.5}, {"step": 1327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1331, "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": 0.5}, {"step": 1338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..53e957e27d905a2c136ba552156ed47ef0e5e778
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 269, "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": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 538, "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": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 666, "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": 799, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 802, "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": 0.5}, {"step": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1050, "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": 0.5}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1054, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1054, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1277, "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": 0.5}, {"step": 1288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1289, "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": 0.5}, {"step": 1290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1333, "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": 0.5}, {"step": 1345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a6c158858daac1f41189934dc1f85220241747
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 233, "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": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 257, "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": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 293, "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": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 460, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "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": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 666, "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": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 844, "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": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "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": 882, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 882, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 919, "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": 969, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 1122, "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": 0.0}, {"step": 1124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1275, "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": 0.0}, {"step": 1277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1278, "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": 0.0}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1324, "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": 0.0}, {"step": 1339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ffb39920199244b3d310d1283091c2cef4fa3ca
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 205, "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": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "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": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 621, "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": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 729, "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": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 774, "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": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 861, "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": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 882, "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": 916, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 942, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=lizard_figurine, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for lizard_figurine. All conditions satisfied for lizard_figurine.", "score": 0.5}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1018, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1045, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1308, "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": 0.5}, {"step": 1319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1320, "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": 0.5}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1326, "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": 0.5}, {"step": 1340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d026f6644dfc443ffd3c3b466860c472931bc5fc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 232, "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": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "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": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 477, "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": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 605, "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": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 608, "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": 638, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 638, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 639, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 640, "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": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 736, "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": 0.5}, {"step": 906, "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": 0.5}, {"step": 918, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 918, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 919, "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": 0.5}, {"step": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 983, "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": 0.5}, {"step": 1007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1008, "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": 0.5}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1019, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1020, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1068, "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": 0.5}, {"step": 1069, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1069, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1069, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1070, "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": 0.5}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1074, "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": 0.5}, {"step": 1075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1076, "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": 0.5}, {"step": 1077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1191, "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": 0.5}, {"step": 1214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1215, "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": 0.5}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1256, "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": 0.5}, {"step": 1306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a26acb00dead11c80731d4e1e37a9772aad99b3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 253, "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": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "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}, {"step": 328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 330, "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": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 341, "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": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 482, "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": 488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 676, "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": 712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 861, "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": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 898, "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": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1092, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 1127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['lizard_figurine_01', 'lizard_figurine'])", "score": 0.0}, {"step": 1128, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 1128, "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": 0.0}, {"step": 1130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1256, "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": 0.0}, {"step": 1259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1262, "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": 0.0}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1332, "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": 0.0}, {"step": 1333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1334, "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": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..458c023d5457b3da0153cdf1ee7996f27a6090c3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "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": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "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": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 360, "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": 366, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 528, "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": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "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": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 693, "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": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 780, "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": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 787, "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": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 897, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.068m", "score": 0.0}, {"step": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 947, "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": 0.0}, {"step": 964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 966, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 970, "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": 0.0}, {"step": 981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 983, "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": 0.0}, {"step": 1053, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.0}, {"step": 1058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=lizard_figurine_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for lizard_figurine_01. All conditions satisfied for lizard_figurine_01.", "score": 0.5}, {"step": 1185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.5}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.5}, {"step": 1325, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['lizard_figurine_01', 'lizard_figurine'])", "score": 0.5}, {"step": 1325, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 1343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.135m", "score": 0.5}, {"step": 1347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca6237a8de0e3ce50c50e7913b47b854e633d4e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 7, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'green_block'", "score": 0.0}, {"step": 9, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'yellow_block'", "score": 0.0}, {"step": 12, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yellow_block' displaced 0.751m", "score": 0.0}, {"step": 23, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'green_block' displaced 2.531m", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 440, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 608, "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=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 728, "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": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 746, "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": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 771, "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": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 794, "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": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 798, "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": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 805, "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": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 814, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 847, "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": 954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 954, "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": 0.5}, {"step": 1111, "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": 0.5}, {"step": 1170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1209, "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": 0.5}, {"step": 1210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1211, "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": 0.5}, {"step": 1244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}, {"step": 1274, "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": 0.5}, {"step": 1300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine_01). regressing to step 0 for lizard_figurine_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5376e2edd0648cd4139da00d56c906084399eb78
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/AnimalsInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AnimalsInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 1350, "events": [{"step": 203, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 476, "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": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 488, "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": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 562, "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": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 778, "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": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 790, "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": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 838, "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": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: 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object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 943, "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": 953, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 953, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 994, "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": 1018, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1018, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b566b20ea8e920f7ccfba2ae958a4237860d8e03
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 899, "events": [{"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 899, "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/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91fce8e6a9362f98666f2d042b9e5dd9d1c7e0d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1196, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 469, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 662, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 665, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 707, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 707, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 793, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 830, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.5}, {"step": 830, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 839, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 908, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 944, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 944, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 945, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1037, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1041, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1196, "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/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..331e9c94f88335a879624a998a19bcbfccc5138e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 755, "events": [{"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 420, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 623, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 755, "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/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dfdae97fa52b1502f2eaefab3333a87333a8b7a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 875, "events": [{"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 875, "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/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..412d3521430c6db8c63e953873f7870177dddbb5
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 653, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 660, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 660, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 802, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1044, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_pot'", "score": 0.5}, {"step": 1327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_pot' (target objects: ['bbq_sauce_bottle', 'bbq_sauce_bottle_01'])", "score": 0.5}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_pot'", "score": 0.5}, {"step": 1333, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle', 'bbq_sauce_bottle_01'])", "score": 0.5}, {"step": 1333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.5}, {"step": 1334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.5}, {"step": 1338, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.067m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..32191960560b3db8f0b41b034e0af41c3d752a61
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 388, "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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 485, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 543, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 617, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1250, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a049d5dd4ec71a9672a7c43cb8fb97d7f7ced24f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 962, "events": [{"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 633, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 962, "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/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f663a2f431b8c25648c9b5d94df31d9ced487a48
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 397, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 816, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 818, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 820, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 889, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_pot'", "score": 0.5}, {"step": 889, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 910, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 999, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1053, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1064, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.5}, {"step": 1122, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.060m", "score": 0.5}, {"step": 1167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1287, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.077m", "score": 0.5}, {"step": 1298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c2fbd22e9e68d7d3f808e18885217eecbcc76ef
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 352, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf63dc824922a5271ce4a3f36056fb9cf470baf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BBQSauceInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 9, "success": true, "final_step": 1296, "events": [{"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 425, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle. All conditions satisfied for bbq_sauce_bottle.", "score": 0.5}, {"step": 428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 623, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 623, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 787, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.5}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1079, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c890028747121442e3eb23e7d510b2c0e4e9ed
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 272, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 276, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 339, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 347, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.164m", "score": 1.0}, {"step": 665, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 759, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 765, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 765, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 882, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 889, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 998, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.189m", "score": 1.0}, {"step": 1015, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 1026, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.211m", "score": 1.0}, {"step": 1258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1263, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1289, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1326, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7113cd6c859b31d4491a3bb80a25791de65cbaa8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 1216, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 266, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 412, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.431m", "score": 1.0}, {"step": 712, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.107m", "score": 1.0}, {"step": 1056, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1200, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'banana_02' displaced 0.534m", "score": 1.0}, {"step": 1216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..607d1fa08bf4a4d3bfa9dbf4df72c5ce23b53a64
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 997, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 387, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 426, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 426, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.109m", "score": 1.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 495, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.077m", "score": 1.0}, {"step": 523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.248m", "score": 1.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 666, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 708, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 797, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 931, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 931, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.105m", "score": 1.0}, {"step": 935, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 965, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.055m", "score": 1.0}, {"step": 997, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ef1b3398ac81490a09dae4b983a2bcab59510d8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 1197, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 491, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 673, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.481m", "score": 1.0}, {"step": 698, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.090m", "score": 1.0}, {"step": 866, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 899, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 902, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 1036, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1069, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.072m", "score": 1.0}, {"step": 1197, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a8fa6541d49c9f630d4768f5ea9f66e585e9f0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 1039, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 308, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 308, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 310, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 453, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 454, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.178m", "score": 1.0}, {"step": 569, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.076m", "score": 1.0}, {"step": 621, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 623, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.185m", "score": 1.0}, {"step": 824, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 1037, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.363m", "score": 1.0}, {"step": 1039, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26348815933de9ba618b072e36886afc5d2c4ba
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 404, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 424, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 448, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: [])", "score": 1.0}, {"step": 449, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 1.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 504, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 513, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.056m", "score": 1.0}, {"step": 523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.080m", "score": 1.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 798, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 994, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1175, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 1188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.058m", "score": 1.0}, {"step": 1252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 1267, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.369m", "score": 1.0}, {"step": 1325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..da848c08c358d1fe9820f0040afd5016e22060e4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 781, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 354, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 354, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 417, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.113m", "score": 1.0}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.277m", "score": 1.0}, {"step": 662, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 662, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.055m", "score": 1.0}, {"step": 720, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 749, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6c4cae34850a93adedadb46a3d2b66ca854e26
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasOutOfBinTask", "env_id": 0, "run": 7, "success": true, "final_step": 1206, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'bananas_out_of_bin' 1/1", "score": 1.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 431, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 1.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_04' (target objects: [])", "score": 1.0}, {"step": 471, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_04'", "score": 1.0}, {"step": 595, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.413m", "score": 1.0}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_04'", "score": 1.0}, {"step": 681, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.054m", "score": 1.0}, {"step": 911, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 911, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_02'", "score": 1.0}, {"step": 939, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 942, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}, {"step": 1028, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_02' (target objects: [])", "score": 1.0}, {"step": 1167, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'banana_02' displaced 0.530m", "score": 1.0}, {"step": 1206, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd824cb502e42ae8ec96b619efc16c78986c8b26
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BananasOutOfBinTask/log_8_env0.json
@@ -0,0 +1 @@
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"env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks into a tower", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks into a tower", "vague": "Build a tower", "specific": "Pick up the colored blocks and stack them vertically on top of each other, forming one tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31af11efcff0789b5a94efb1619de1b876aa9dcc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 0, "success": true, "final_step": 1247, "events": [{"step": 246, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 246, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.096m", "score": 0.0}, {"step": 411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 567, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 596, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 656, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 818, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 825, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 825, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.080m", "score": 0.33}, {"step": 957, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 957, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 1055, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 1063, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.306m", "score": 0.66}, {"step": 1068, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 1069, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1070, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 1152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.66}, {"step": 1230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.212m", "score": 0.66}, {"step": 1247, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c8b9b7e01c2b442fea37690aea1262fed431682
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 1, "success": true, "final_step": 904, "events": [{"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 322, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 324, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.133m", "score": 0.33}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 477, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 477, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 592, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.142m", "score": 0.66}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 750, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 750, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.66}, {"step": 904, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..85249de149b681300c46745e183ae059faf83225
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 2, "success": true, "final_step": 1263, "events": [{"step": 156, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.164m", "score": 0.0}, {"step": 334, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 334, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 336, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 506, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.235m", "score": 0.0}, {"step": 620, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 719, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 820, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.33}, {"step": 820, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.148m", "score": 0.33}, {"step": 820, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 928, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 945, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 947, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 950, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 952, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 997, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.070m", "score": 0.33}, {"step": 1056, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 1056, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.089m", "score": 0.66}, {"step": 1056, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 1156, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1263, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 1263, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..211cd49804cba7e44c78cab32a1cb44511d568f1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 3, "success": true, "final_step": 884, "events": [{"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.059m", "score": 0.0}, {"step": 380, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 384, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 384, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.215m", "score": 0.33}, {"step": 504, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 504, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 551, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.122m", "score": 0.33}, {"step": 608, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.138m", "score": 0.66}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 756, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.66}, {"step": 816, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.099m", "score": 0.66}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.336m", "score": 0.66}, {"step": 884, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b899b7e68b1e0a70ed9ca42dc6a4cf87b99c90b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingOrderAgnosticTask", "env_id": 0, "run": 4, "success": true, "final_step": 1262, "events": [{"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['blue_green', 'red_blue', 'red_green', 'green_yellow', 'blue_yellow', 'red_yellow'])", "score": 0.0}, {"step": 251, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 350, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.105m", "score": 0.0}, {"step": 356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 361, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_blocks' 1/3", "score": 0.33}, {"step": 444, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.33}, {"step": 625, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 672, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.107m", "score": 0.33}, {"step": 716, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.33}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['red_blue_green', 'blue_green_yellow', 'red_green_yellow', 'red_blue_yellow'])", "score": 0.33}, {"step": 881, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 998, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 998, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.162m", "score": 0.66}, {"step": 998, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_3_blocks' 2/3", "score": 0.66}, {"step": 1123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1123, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.66}, {"step": 1212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.344m", "score": 0.66}, {"step": 1262, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_4_blocks' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab22ccec188bff22b6c682dbc75208979ebe1964
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_5_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_8_env0.json
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+++ b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/BlockStackingOrderAgnosticTask/log_9_env0.json
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"ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "GrabABagelTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Grab a bagel", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Grab a bagel", "vague": "Grab some bread", "specific": "Reach for one of the bagels on the table and pick it up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9989f28394984323c47cb9bfaaaae0777ca2bd
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 264, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 265, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab4cc01515ad5d71ea2ec7e34fe8d15f7e00d2bf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 386, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31fd83a57c3622119061f3362283d9251ef1a015
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 0, "run": 2, "success": true, "final_step": 449, "events": [{"step": 180, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_01'", "score": 1.0}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 336, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 437, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2e137d82b8ce0be6ab365a79f5464231ac3948
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 0, "run": 3, "success": false, "final_step": 450, "events": [{"step": 174, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_07'", "score": 1.0}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 275, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 420, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 422, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 424, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..36cdebb0745230c89bdade860079c19f9429a482
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/GrabABagelTask/log_9_env0.json
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{"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 120, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["utilityjug_a01", "utilityjug_a02"], "container": "large_storage_rack", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"utilityjug_a01": [["functools.partial(<function object_grabbed at 0x7f65c3e93c40>, object='utilityjug_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f65c3e93a60>, object='utilityjug_a01', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "utilityjug_a02": [["functools.partial(<function object_grabbed at 0x7f65c3e93c40>, object='utilityjug_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f65c3e93a60>, object='utilityjug_a02', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "JugsOnShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the jugs on the shelf", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the jugs on the shelf", "vague": "Put the jugs on the shelf", "specific": "Pick up both jugs from the table and place them on the shelf"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..46183aca7ff6bb76a56936136e4fa6b6822a7ddd
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 855, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 916, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1087, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d7f4a87c3795a446751e80878f575aeae10a28
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 1800, "events": [{"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e34016881eef2b55117d5fdb01036019bb87297
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 977, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1092, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1092, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1656, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1689, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3886b99a5044f89cfe53dcc00b9c231b0611c6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 3, "success": false, "final_step": 1800, "events": [{"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 930, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1021, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1029, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1380, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.070m", "score": 0.0}, {"step": 1381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.174m", "score": 0.0}, {"step": 1404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.157m", "score": 0.0}, {"step": 1442, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0872e7c55b2a3332d7865f7d8dc69e872ec9655
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 4, "success": false, "final_step": 1800, "events": [{"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "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=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "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=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 619, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 917, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1157, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a02' nudged 0.051m", "score": 0.0}, {"step": 1166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.182m", "score": 0.0}, {"step": 1268, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1271, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.252m", "score": 0.0}, {"step": 1542, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.240m", "score": 0.0}, {"step": 1616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.233m", "score": 0.0}, {"step": 1625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.053m", "score": 0.0}, {"step": 1735, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 1740, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.112m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..474ef06620c26cd96a80fc1eb30a76a17e303c22
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 1800, "events": [{"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 575, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 597, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=utilityjug_a01, container=large_storage_rack, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for utilityjug_a01. All conditions satisfied for utilityjug_a01.", "score": 0.5}, {"step": 819, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.060m", "score": 0.5}, {"step": 1225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['utilityjug_a01', 'utilityjug_a02'])", "score": 0.5}, {"step": 1230, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.5}, {"step": 1371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1545, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1778, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 1779, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24860ca818097a79fc89a2e4025ae8e6da00f48
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 6, "success": false, "final_step": 1800, "events": [{"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 470, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 470, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 643, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 655, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 909, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 909, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 909, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 1050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "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=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 1757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb531feba706cc71f0b1b582d0d8a9ec383da66
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 7, "success": false, "final_step": 1800, "events": [{"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.0}, {"step": 956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 956, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.0}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 1117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.055m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dbcd43dd688a7262d7dfa3cb29ea4bf33e8286d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 8, "success": false, "final_step": 1800, "events": [{"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 719, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 733, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 939, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1056, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1058, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1063, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1069, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['utilityjug_a01', 'utilityjug_a02'])", "score": 0.0}, {"step": 1069, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1071, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.0}, {"step": 1074, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.128m", "score": 0.0}, {"step": 1095, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.339m", "score": 0.0}, {"step": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['utilityjug_a01', 'utilityjug_a02'])", "score": 0.0}, {"step": 1347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..855561f1525a35719b5ecaebffd083bce1b7a18a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "JugsOnShelfTask", "env_id": 0, "run": 9, "success": false, "final_step": 1800, "events": [{"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "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=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a01). advanced 1 step(s) to step 1 for utilityjug_a01.", "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=utilityjug_a01). regressing to step 0 for utilityjug_a01.", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1079, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=utilityjug_a01, container=large_storage_rack, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for utilityjug_a01. All conditions satisfied for utilityjug_a01.", "score": 0.5}, {"step": 1471, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.5}, {"step": 1489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.125m", "score": 0.5}, {"step": 1529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.083m", "score": 0.5}, {"step": 1539, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.059m", "score": 0.5}, {"step": 1546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1551, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.5}, {"step": 1553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.071m", "score": 0.5}, {"step": 1654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a02). advanced 1 step(s) to step 1 for utilityjug_a02.", "score": 0.5}, {"step": 1667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for utilityjug_a02.", "score": 0.5}, {"step": 1737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.124m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-51-20_harness/JugsOnShelfTask/run_0.hdf5
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b58f6992fe52bc4b681523dfca77851956eb0e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 1343, "events": [{"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 972, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 1147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=banana_01, reference_object=plate_small, require_gripper_detached=True). advanced 2 step(s) to step 2 for banana_01. 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72385c169a0a66d2a04ef5d885718c18cf9bbaa
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 635, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 695, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 869, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=banana_01, reference_object=plate_small, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana_01. All conditions satisfied for banana_01.", "score": 0.5}, {"step": 1030, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1068, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1087, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb6dcfebaa6b79980dd8a918ae1ec9fef161699
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 940, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 1051, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1051, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1053, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 1063, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1063, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1071, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 1091, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 1103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['banana', 'banana_01'])", "score": 0.0}, {"step": 1107, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 1126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.104m", "score": 0.0}, {"step": 1130, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['banana', 'banana_01'])", "score": 0.0}, {"step": 1131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 1204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 1208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 1233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 1335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.056m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..49231125dc5637d3e1cad63538e52268356da3ee
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 251, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 842, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 950, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 951, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 951, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 1016, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 1091, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.098m", "score": 0.0}, {"step": 1125, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: ['banana', 'banana_01'])", "score": 0.5}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1125, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 0.5}, {"step": 1125, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=banana, reference_object=plate_small, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"step": 1139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 0.5}, {"step": 1216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}, {"step": 1294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}, {"step": 1313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}, {"step": 1321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}, {"step": 1332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.5}, {"step": 1337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be053e65a0a5d7df84527c7a9ab60d3a8df44a2c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=banana_01, reference_object=plate_small, require_gripper_detached=True). advanced 2 step(s) to step 2 for banana_01. All conditions satisfied for banana_01.", "score": 0.5}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['banana', 'banana_01'])", "score": 0.5}, {"step": 747, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.5}, {"step": 747, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.5}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1030, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 1247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_01' (target objects: [])", "score": 1.0}, {"step": 1256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_01'", "score": 1.0}, {"step": 1258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.064m", "score": 1.0}, {"step": 1261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_01'", "score": 1.0}, {"step": 1264, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_01' (target objects: [])", "score": 1.0}, {"step": 1276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_01'", "score": 1.0}, {"step": 1301, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 1.0}, {"step": 1315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_01' (target objects: [])", "score": 1.0}, {"step": 1319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1322, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59919e35bdb19663ce493fbd9514844dfba4384
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 5, "success": true, "final_step": 1112, "events": [{"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 744, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=banana_01, reference_object=plate_small, require_gripper_detached=True). advanced 2 step(s) to step 2 for banana_01. All conditions satisfied for banana_01.", "score": 0.5}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 1112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1119553ea3c4dd2647a8363658c35fb4b46c5b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 728, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=banana_01, reference_object=plate_small, require_gripper_detached=True). advanced 2 step(s) to step 2 for banana_01. All conditions satisfied for banana_01.", "score": 0.5}, {"step": 971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1097, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1098, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_juice_carton' nudged 0.111m", "score": 0.5}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: ['banana', 'banana_01'])", "score": 0.5}, {"step": 1174, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 0.5}, {"step": 1176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bagel_07' nudged 0.127m", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.062m", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bagel_01' nudged 0.134m", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bagel_02' nudged 0.133m", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.128m", "score": 0.5}, {"step": 1302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..267b1d54d33cd137641702af8f2a65be70f6943c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MoveBananaToBagelPlateTask", "env_id": 0, "run": 7, "success": true, "final_step": 1101, "events": [{"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "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=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 463, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 1092, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1092, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 1098, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=banana, reference_object=plate_small, require_gripper_detached=True). advanced 2 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"step": 1101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ae250c036f8ad772b1ac296cce35ba777b27f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MoveBananaToBagelPlateTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b789fb24b0a4a86c96449bfe71eba07f8a47f2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 0, "success": true, "final_step": 418, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fb1bf1ae8054b749e3618e9d47b143eea71366c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": 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{"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7b68661af7475f6cb014d0723104261fba9a52
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8cd6f74af65101a442ca593cb4a36d7c643840d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 3, "success": true, "final_step": 464, "events": [{"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ec8398ab3b93163b234962853678b6d735bd6b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 4, "success": true, "final_step": 433, "events": [{"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63fa022da926ca30793ad932c6ed8c3d86664b9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 5, "success": true, "final_step": 462, "events": [{"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 220, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..070694627b3f70a46df8373158a8bc3581ef4e89
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 6, "success": true, "final_step": 447, "events": [{"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 447, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 447, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a7de4fbd8347754b3d1f18b3ef6fe8a9cb79620
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 7, "success": true, "final_step": 493, "events": [{"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "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=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b985ceba28ef35565436cb185295eb2b69b89a37
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/MustardAboveRaisinTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d37e0ebf8374c3438ad668b51838cfb7c8f625d6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 660, "events": [{"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 234, "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": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 253, "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": 254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 257, "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": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 260, "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": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 263, "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": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 265, "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": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 271, "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": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 421, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube. 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b083cce22a318ed6863fc10a9a208f411128a0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 114, "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": 117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 120, "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": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 243, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, 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": 0.5}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 823, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..476b65cdbe45733e72f71d45b3173987cb7dc85e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 262, "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": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 374, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, 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": 0.5}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 573, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana', 'rubiks_cube'])", "score": 0.5}, {"step": 705, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 705, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 709, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 882, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana', 'rubiks_cube'])", "score": 0.5}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 887, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana', 'rubiks_cube'])", "score": 0.5}, {"step": 890, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e71bdfa6e61e9bf0cdc4a7244e4020e577a889
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 3, "success": true, "final_step": 693, "events": [{"step": 232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 320, "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": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 322, "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": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 325, "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": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 437, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, 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": 0.5}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 693, "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/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab8d8fa4eea269047c9831c1bdbaa7497a6264b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 4, "success": true, "final_step": 593, "events": [{"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 235, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 242, "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": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 333, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, 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": 0.5}, {"step": 342, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 490, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 512, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 578, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 583, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 583, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 589, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 589, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 1.0}, {"step": 592, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec7c9840121faf929fc740a391f51952eab0702
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 5, "success": true, "final_step": 835, "events": [{"step": 237, "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": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 296, "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": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 312, "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": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 315, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 317, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 356, "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": 388, "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 479, "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": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 568, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=rubiks_cube, container=bowl, 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": 0.5}, {"step": 570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 708, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 835, "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/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4968ac08e0b08b0f9e2f9c51b9ee05409fabf66e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/RubiksCubeAndBananaTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b082cc78657ebc4656ab0e90a0a6cd193256f9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 0, "success": true, "final_step": 455, "events": [{"step": 220, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 325, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.5}, {"step": 334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 415, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.289m", "score": 0.5}, {"step": 455, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..36139e724ce5cc63043a1443af422c3ba7de673f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 1, "success": true, "final_step": 511, "events": [{"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 511, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.254m", "score": 1.0}, {"step": 511, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8c6e94e5eeb6426df3a7de41368ec3fe516616d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 2, "success": true, "final_step": 488, "events": [{"step": 375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 375, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 488, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.254m", "score": 1.0}, {"step": 488, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec2bb79c9a875724a1245b6bea2f6b9e1ed5102
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 3, "success": true, "final_step": 493, "events": [{"step": 227, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'birdhouse'", "score": 0.0}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 493, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1440ffda8c7f421787d881d5d2ab21121b8f606
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_4_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2650d47686541f1ade1664e8fcce46946971bec2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 5, "success": true, "final_step": 531, "events": [{"step": 366, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 378, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 531, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df67185b02c2c8e56e489b2ffff77ab3804ee171
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 6, "success": true, "final_step": 721, "events": [{"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 403, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 410, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.5}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 597, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.5}, {"step": 599, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 721, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..98eda503f598c8b582133c1138952c29250950ce
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 7, "success": true, "final_step": 606, "events": [{"step": 245, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'birdhouse'", "score": 0.0}, {"step": 287, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'birdhouse' nudged 0.173m", "score": 0.0}, {"step": 301, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'birdhouse'", "score": 0.0}, {"step": 311, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'birdhouse' displaced 0.734m", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 560, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.237m", "score": 0.5}, {"step": 606, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53b534b80d3794104a6144ea5bc050c4dc1489d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 8, "success": true, "final_step": 586, "events": [{"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 384, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 586, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.276m", "score": 1.0}, {"step": 586, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_9_env0.json
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index 0000000000000000000000000000000000000000..35cc280b988e4836343a9937d695354a31205c48
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/StackYellowOnRedTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackYellowOnRedTask", "env_id": 0, "run": 9, "success": true, "final_step": 705, "events": [{"step": 424, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine_01'", "score": 0.0}, {"step": 447, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['group2', 'group1'])", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 447, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 448, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 461, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 461, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.5}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yellow_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.5}, {"step": 517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 705, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_yellow_on_red' 1/1", "score": 1.0}]}
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dbeb65305300e78e0050d7f1ccb1318952dc90c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 400, "events": [{"step": 100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "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=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac6f8e19eb2bfdfde2dd5d2a4dcbf1607a97521
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 213, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 823, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea9cf956301c0f3a620d8b01f15c73296b8329f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 11, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.188m", "score": 0.0}, {"step": 21, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.050m", "score": 0.0}, {"step": 24, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.108m", "score": 0.0}, {"step": 725, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 725, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 726, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 877, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da769107a33cb7ced4f1c57c096418b8ef5b272
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 3, "success": true, "final_step": 613, "events": [{"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 611, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "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=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a163fb0688170f194b40ed7d62164c965fe8b34e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 4, "success": true, "final_step": 852, "events": [{"step": 149, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fa20c5c365e0964ce57514e7cdef7b972b9d34
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 17, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..673985ec321a565911fe8fa89c4fba40eb95de47
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 6, "success": true, "final_step": 869, "events": [{"step": 19, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 869, "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/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f6e8996f81393f2ab4cfd243b677401735d43be
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/TakeSpatulaOffShelfTask/log_8_env0.json
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["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 120, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["apple_01", "yogurt_cup"], "container": "plasticpail_a02", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"apple_01": [["functools.partial(<function object_grabbed at 0x7f65c3e93c40>, object='apple_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f65c3e93a60>, object='apple_01', container='plasticpail_a02', require_contact_with=False, require_gripper_detached=True)", 1.0]], "yogurt_cup": [["functools.partial(<function object_grabbed at 0x7f65c3e93c40>, object='yogurt_cup')", 0.0], ["functools.partial(<function object_in_container at 0x7f65c3e93a60>, object='yogurt_cup', container='plasticpail_a02', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "ThrowAwaySnacksTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put away the snacks in the bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "pitcher", "plasticpail_a02", "apple_01", "table"], "_instruction_variants": {"default": "Put away the snacks in the bin", "vague": "Throw away the snacks", "specific": "Pick up each snack item from the table and drop it into the bin to discard"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f735b61c6853ba30c1b593891036dd5056d38b2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 0, "success": true, "final_step": 1408, "events": [{"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 499, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.079m", "score": 0.5}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 836, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 836, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 933, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 969, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1099, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1408, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..84c5a2f22be2388064a6624c242594b02b226c90
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 1, "success": true, "final_step": 1206, "events": [{"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 366, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 599, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 786, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 922, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.256m", "score": 0.5}, {"step": 926, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 1205, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1206, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..376d5d044ef6f4aa0158c564252f5692614da271
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 407, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 408, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.0}, {"step": 408, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.096m", "score": 0.0}, {"step": 452, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 452, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plasticpail_a02'", "score": 0.0}, {"step": 464, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.874m", "score": 0.0}, {"step": 468, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plasticpail_a02' displaced 0.670m", "score": 0.0}, {"step": 497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.207m", "score": 0.0}, {"step": 1565, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.076m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'keyboard' nudged 0.058m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'marker' nudged 0.086m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'remote_control' nudged 0.101m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.115m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.128m", "score": 0.0}, {"step": 1581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.117m", "score": 0.0}, {"step": 1602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.085m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e5e72ed992ca594d30e89b7680f70662eecfb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 3, "success": true, "final_step": 1547, "events": [{"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 603, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 657, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 662, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.086m", "score": 0.5}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 879, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 879, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 949, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 949, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 949, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1547, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4293873ccd70bca589184faff91ed3b7ef37603
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 4, "success": true, "final_step": 995, "events": [{"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 356, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 368, "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=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 453, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 650, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 650, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 995, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78406562e6c4eca79f0b40a08184c0a66fb083a0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 5, "success": true, "final_step": 1057, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 600, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 612, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 855, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.062m", "score": 0.5}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1057, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e4e7d1bfd61636f15b43e30b6eba4bd60dbd14
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 6, "success": true, "final_step": 714, "events": [{"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 360, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 360, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 714, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f1a643f669ffe0921b345f372a18b1895e7ffc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 0, "run": 7, "success": true, "final_step": 1617, "events": [{"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 751, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 752, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.5}, {"step": 802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.068m", "score": 0.5}, {"step": 837, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.142m", "score": 0.5}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.5}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 907, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.5}, {"step": 1083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.052m", "score": 0.5}, {"step": 1119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1123, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.054m", "score": 0.5}, {"step": 1314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spoon_big'", "score": 0.5}, {"step": 1340, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.5}, {"step": 1371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.5}, {"step": 1406, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.086m", "score": 0.5}, {"step": 1465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 1466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.075m", "score": 0.5}, {"step": 1617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1617, "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/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf1258b6bd348d631c731b8eb4b3dd43bae49eaf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_8_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ThrowAwaySnacksTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4d3489ff9cf31cbacf10ad5895a4ebb77e0075
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingDrillTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['cordless_drill'])", "score": 0.0}, {"step": 212, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp_01'", "score": 0.0}, {"step": 213, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 214, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clamp_01' (target objects: ['cordless_drill'])", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clamp_01'", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 548, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 800, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 818, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 818, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 832, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dcc6e91e27df3a31d7003671d3ce664337d3f9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingDrillTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 566, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 670, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.0}, {"step": 676, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 1.298m", "score": 0.0}, {"step": 718, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7dce7c52cad83b3b15bcdcb09373599b4bb276b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingDrillTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clamp_01'", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 703, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 720, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 731, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.167m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3022722a1b81c9d213b9a3144ec97909dd270ce3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingDrillTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 429, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 429, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d3d768267dc9c3457342574c7e1bab1da8b9a11
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingDrillTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 383, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 578, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'center_bin' (target objects: ['cordless_drill'])", "score": 0.0}, {"step": 578, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'center_bin'", "score": 0.0}, {"step": 578, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 579, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['cordless_drill'])", "score": 0.0}, {"step": 580, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp' nudged 0.090m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.114m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.160m", "score": 0.0}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clamp_01' nudged 0.077m", "score": 0.0}, {"step": 583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'center_bin' nudged 0.106m", "score": 0.0}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 764, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..482761744980f91994dc60404f075d452f03d223
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_7_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_9_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToolsPickingDrillTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..897a43e8af4396d54a51518e77811ae15581b859
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 154, "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": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 371, "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": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target 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object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..207512dbc9231e6a228c5ef4bdf3bdf8038325c3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 222, "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": 271, "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 537, "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": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 715, "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": 781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 798, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 798, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 832, "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": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 850, "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": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 865, "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": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 891, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b013f594875007a4b489b8d0b58ae7b37b7ca016
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 528, "events": [{"step": 210, "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": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 361, "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": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 488, "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": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 502, "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": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..82845d8a9bbd0f6e351d6f374f9fa8881dc91de2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 195, "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": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 234, "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": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 382, "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": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 511, "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": 616, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "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": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 806, "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": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 819, "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": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 857, "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": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ef18c980644ae1e102ea5c5f4336c39b7f647b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 259, "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": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 304, "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": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 309, "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": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 320, "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": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 322, "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": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "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": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 646, "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": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 791, "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": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 850, "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": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e4007fe3ecbe64924c9b0d91494517c9875d32
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "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": 244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 246, "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": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 249, "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": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 317, "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": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 481, "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": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 503, "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": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 654, "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": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 664, "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": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 669, "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": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 680, "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": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 684, "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": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 848, "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": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5385812235ab3cb4279396283842ff47884bcd2d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_6_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/ToyInBinTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..030b5274b9832478e8d256687c9ef977821b602f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 838, "events": [{"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 402, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.085m", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 464, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 747, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 838, "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/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..93122abb1c881146a6df168d4c7c553f8e4c0255
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 817, "events": [{"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 384, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 817, "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/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb7b4f877a212d6767a56f5d2b575a3512061a6f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 645, "events": [{"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 188, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 408, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a215eaec01275205ecff7fe05b3ab449be467c87
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 743, "events": [{"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['mug_01', 'mug'])", "score": 0.0}, {"step": 406, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 406, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 418, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 743, "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/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd34dd89cbb68d06922f8ef429634ec8078b36ad
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 653, "events": [{"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 395, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 653, "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/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad68d24dcbebf96d73b6c915a12f3d961b698d8e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 355, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 638, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 766, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.5}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed67608104ef412722a91a94c87cb6329058b37b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 751, "events": [{"step": 147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 318, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug_01. All conditions satisfied for mug_01.", "score": 0.5}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 505, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 751, "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/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b26a3f565766665313bc0c2237a038e1d9e578
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugsInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 598, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.094m", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..83fc30e7b465d47e94b707805b249ff738bee26b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-51-20_harness/WhiteMugsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
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+{"env_name": "MustardAboveRaisinTask", "task_name": "MustardAboveRaisinTask", "run_name": "MustardAboveRaisinTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Place the mustard on the raisin box. ", "attributes": ["spatial", "simple"], "success": true, "episode_step": 518, "duration": 34.53333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.058489144833206, "joint_sparc_mean": -6.046407102518176, "ee_isj": 67.4161575437485, "joint_isj": 2190.1398614787345, "ee_path_length": 1.6510092517467443, "joint_rmse_mean": 1.0956440764733912, "ee_speed_max": 0.14089307188987732, "ee_speed_mean": 0.04446578025817871}, "events": {"TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 625.461, "policy_inference_avg_ms": 1207.5, "env_step_s": 102.599, "env_step_avg_ms": 198.1, "video_write_s": 4.936, "video_write_avg_ms": 9.5, "wall_total_s": 732.996, "it_per_sec": 0.71}, "score": 0.0, "reason": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle."}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.890722296185784, "joint_sparc_mean": -8.142837661545746, "ee_isj": 296.60837020079066, "joint_isj": 19977.977687763894, "ee_path_length": 4.658983071463294, "joint_rmse_mean": 1.12720581213177, "ee_speed_max": 0.4172033965587616, "ee_speed_mean": 0.05002180486917496}, "events": {"WRONG_OBJECT_GRABBED": 11, "GRIPPER_HIT_OBJECT": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 6, "OBJECT_BUMPED": 3, "wrong_objects_grabbed": ["grey_bin", "banana_04", "banana_04", "banana_04", "banana_04", "banana_02", "banana_02", "banana_02", "banana_04", "banana_04", "banana_04"]}, "instruction_type": "default", "timing": {"policy_inference_s": 2138.441, "policy_inference_avg_ms": 1584.0, "env_step_s": 406.107, "env_step_avg_ms": 300.8, "video_write_s": 10.848, "video_write_avg_ms": 8.0, "wall_total_s": 2555.396, "it_per_sec": 0.53}, "score": 1.0, "reason": "Gripper fully closed"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 1216, "duration": 81.06666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.8125089481934116, "joint_sparc_mean": -5.373533446693097, "ee_isj": 130.3720827459357, "joint_isj": 3440.5044656139767, "ee_path_length": 4.499084137273158, "joint_rmse_mean": 1.0606349590778925, "ee_speed_max": 0.13425882160663605, "ee_speed_mean": 0.052797820419073105}, "events": {"WRONG_OBJECT_GRABBED": 4, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 2, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["banana_02", "banana_02", "banana_04", "banana_02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1426.1, "policy_inference_avg_ms": 1172.8, "env_step_s": 363.778, "env_step_avg_ms": 299.2, "video_write_s": 9.57, "video_write_avg_ms": 7.9, "wall_total_s": 1799.448, "it_per_sec": 0.68}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_02'"}
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+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_3", "run": 3, "episode": 3, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 1197, "duration": 79.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.5466399068613126, "joint_sparc_mean": -5.453043095278578, "ee_isj": 86.193052396541, "joint_isj": 2674.4651405876957, "ee_path_length": 4.181299950878307, "joint_rmse_mean": 1.2541324076980853, "ee_speed_max": 0.2877969443798065, "ee_speed_mean": 0.04996909946203232}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 3, "wrong_objects_grabbed": ["banana_02", "banana_04", "banana_04"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1068.18, "policy_inference_avg_ms": 892.4, "env_step_s": 354.656, "env_step_avg_ms": 296.3, "video_write_s": 9.425, "video_write_avg_ms": 7.9, "wall_total_s": 1432.261, "it_per_sec": 0.84}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_04'"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_4", "run": 4, "episode": 4, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 1039, "duration": 69.26666666666667, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.0599945277520755, "joint_sparc_mean": -4.43621828476304, "ee_isj": 69.46588626353994, "joint_isj": 1666.3567752463641, "ee_path_length": 3.2781603816723677, "joint_rmse_mean": 1.154804366021987, "ee_speed_max": 0.10545042902231216, "ee_speed_mean": 0.04444592073559761}, "events": {"WRONG_OBJECT_GRABBED": 4, "GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 4, "wrong_objects_grabbed": ["banana_02", "banana_02", "banana_02", "banana_04"]}, "instruction_type": "default", "timing": {"policy_inference_s": 1264.101, "policy_inference_avg_ms": 1216.7, "env_step_s": 308.247, "env_step_avg_ms": 296.7, "video_write_s": 8.283, "video_write_avg_ms": 8.0, "wall_total_s": 1580.631, "it_per_sec": 0.66}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_04'"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_5", "run": 5, "episode": 5, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.321868937495098, "joint_sparc_mean": -7.731933173641926, "ee_isj": 720.1263055967904, "joint_isj": 157600.7873621483, "ee_path_length": 5.053205374131544, "joint_rmse_mean": 1.4752627141657657, "ee_speed_max": 0.39903074502944946, "ee_speed_mean": 0.05404340848326683}, "events": {"GRIPPER_FULLY_CLOSED": 10, "GRIPPER_HIT_OBJECT": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "WRONG_OBJECT_GRABBED": 5, "OBJECT_BUMPED": 4, "wrong_objects_grabbed": ["grey_bin", "banana_04", "banana_02", "banana_02", "banana_02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 2084.551, "policy_inference_avg_ms": 1544.1, "env_step_s": 393.542, "env_step_avg_ms": 291.5, "video_write_s": 10.573, "video_write_avg_ms": 7.8, "wall_total_s": 2488.666, "it_per_sec": 0.54}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_02'"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_6", "run": 6, "episode": 6, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 781, "duration": 52.06666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.8349370060761485, "joint_sparc_mean": -4.36081196093176, "ee_isj": 75.55858722013281, "joint_isj": 2819.8694188267036, "ee_path_length": 2.3189530624228722, "joint_rmse_mean": 1.0412642370352876, "ee_speed_max": 0.22686105966567993, "ee_speed_mean": 0.04407452046871185}, "events": {"GRIPPER_HIT_OBJECT": 3, "WRONG_OBJECT_GRABBED": 4, "OBJECT_BUMPED": 3, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["banana_04", "banana_04", "banana_02", "banana_02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 434.295, "policy_inference_avg_ms": 556.1, "env_step_s": 232.612, "env_step_avg_ms": 297.8, "video_write_s": 6.699, "video_write_avg_ms": 8.6, "wall_total_s": 673.606, "it_per_sec": 1.16}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_02'"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 1206, "duration": 80.4, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.062123100934199, "joint_sparc_mean": -6.526400864742512, "ee_isj": 149.10343253887612, "joint_isj": 4811.194135024606, "ee_path_length": 4.480961434952519, "joint_rmse_mean": 1.0691966929114192, "ee_speed_max": 0.3152649998664856, "ee_speed_mean": 0.05291731655597687}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 3, "WRONG_OBJECT_GRABBED": 3, "OBJECT_BUMPED": 2, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["banana_04", "banana_02", "banana_02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 590.39, "policy_inference_avg_ms": 489.5, "env_step_s": 366.252, "env_step_avg_ms": 303.7, "video_write_s": 9.838, "video_write_avg_ms": 8.2, "wall_total_s": 966.481, "it_per_sec": 1.25}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_02'"}
+{"env_name": "BananasOutOfBinTask", "task_name": "BananasOutOfBinTask", "run_name": "BananasOutOfBinTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Take the bananas out", "attributes": ["semantics", "spatial", "moderate"], "success": true, "episode_step": 749, "duration": 49.93333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.232426840632509, "joint_sparc_mean": -5.001284314040101, "ee_isj": 64.76139120542304, "joint_isj": 4723.670866741689, "ee_path_length": 2.639585190954459, "joint_rmse_mean": 1.1891682645123869, "ee_speed_max": 0.1744859218597412, "ee_speed_mean": 0.05138194561004639}, "events": {"WRONG_OBJECT_GRABBED": 6, "GRIPPER_HIT_OBJECT": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 4, "GRIPPER_FULLY_CLOSED": 1, "wrong_objects_grabbed": ["banana_02", "banana_02", "banana_04", "banana_04", "grey_bin", "banana_04"]}, "instruction_type": "default", "timing": {"policy_inference_s": 510.475, "policy_inference_avg_ms": 681.5, "env_step_s": 224.313, "env_step_avg_ms": 299.5, "video_write_s": 6.501, "video_write_avg_ms": 8.7, "wall_total_s": 741.288, "it_per_sec": 1.01}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'banana_04'"}
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"robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fedf4d0be20>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fedf5dabb00>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90f21a21002e1f8522cf70c733415b7c811066a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 458, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 445, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 445, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 458, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e713ef6b88245042c111a5b727f61529aeb076
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 408, "events": [{"step": 254, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 408, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e0a9d6380f7998c303e743bda916fc1b7880c9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 385, "events": [{"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 384, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d9ddb279200b1ff81c245aa9090d16983ba1ea
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 671, "events": [{"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 671, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff28956f84aad1cf6ecf557c6b1758d78d68b953
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 366, "events": [{"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 366, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df43db28d8850138c61c734a7ff57aab2879583f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 726, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 537, "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=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 644, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 726, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5eb16428e979db8698df090f809664be66f4a7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 443, "events": [{"step": 268, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 299, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 438, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 438, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 443, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 1.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 443, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89264e50cf2fefb756d5510eed3370568043f8e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 381, "events": [{"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 369, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 381, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9045329572f0b114bb782d647a39b1452e504498
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaInBowlTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11b7f2bc5200e130c8c59e59067842dead2e05a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 397, "events": [{"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 394, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.071m", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 397, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..77463d98443cd0b168c0c320ae7248682264e667
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 1, "success": true, "final_step": 440, "events": [{"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 292, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 327, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 440, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71bb96ff611a635888e1357eabd031bd4633e32
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 557, "events": [{"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 555, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 557, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fea99981796e804081e2f6c96cfef47393414bf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 3, "success": true, "final_step": 546, "events": [{"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 546, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c39841763cc846fcfba73932b6b9fd424e9be64a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 4, "success": true, "final_step": 388, "events": [{"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 388, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4687157094bfa78e4451a488c09d7722861833e0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaOnPlateTask", "env_id": 0, "run": 5, "success": true, "final_step": 392, "events": [{"step": 164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 392, "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/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3caf276b656ff2d0c697a2eb34525e9067948e64
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananaOnPlateTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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{"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["banana", "banana_01", "banana_03"], "container": "grey_bin", "logical": "choose", "K": 1, "require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fedf4d0be20>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fedf5dabb00>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(<function object_grabbed at 0x7fedf4d0be20>, object='banana_01')", 0.0], ["functools.partial(<function object_in_container at 0x7fedf5dabb00>, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7fedf4d0be20>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7fedf5dabb00>, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7241740935e919e1f23141b99ce9d5877ce8f493
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 0, "success": true, "final_step": 338, "events": [{"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e915bc2099e0b18fd77eda91cac5ab718adc958
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 1, "success": true, "final_step": 737, "events": [{"step": 77, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 737, "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/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2d3ee1da5941d10da26696e41ac7da7db485ad
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 2, "success": true, "final_step": 761, "events": [{"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 761, "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/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..512344eb9d70003d3aac126d827d44cf5d35c984
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 3, "success": true, "final_step": 606, "events": [{"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.116m", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.080m", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.103m", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 373, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 441, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 445, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 464, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 606, "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/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4641657234ed0a863e383aafb344ba9e90c909ed
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 4, "success": true, "final_step": 480, "events": [{"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e819e6e3f8ad529d42a9a2fc9342830eff18f55
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 5, "success": true, "final_step": 729, "events": [{"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "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=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 729, "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/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ee177b09acd57e139d7338521c8744acc6a7721
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 6, "success": true, "final_step": 345, "events": [{"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 214, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 219, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 345, "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/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb5c57685bbbd59a0be037419db6383933c01cfe
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/BananasInBinThreeTotalTask/log_7_env0.json
@@ -0,0 +1 @@
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"noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", 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require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "ButterAboveRaisinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the butter box and place it on top of the raisin box", "contact_object_list": ["butter", "raisin_box", "table"], "_instruction_variants": {"specific": "Place the butter on top of the raisin box. The butter should end up on the raisin box.", "vague": "Put butter on raisin box", "default": "Pick up the butter box and place it on top of the raisin box"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e675127c111d8e40273bf0eb8e4ad46264d4da2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 0, "success": true, "final_step": 450, "events": [{"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 326, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d135b465535ec40b05e7e607f009b84d88c6104
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 1, "success": true, "final_step": 312, "events": [{"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 220, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..584e56e56fb5740f9e5af8e6d5eed41117ce7b58
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 2, "success": true, "final_step": 402, "events": [{"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 283, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 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=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ccad5ef6a58bf86c95bdcc34e55f9a358094c4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 3, "success": true, "final_step": 257, "events": [{"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3ad14b9473f4b0edca4027d858fbd9e7495461
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 4, "success": true, "final_step": 235, "events": [{"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..698b1ddf408effcbe36f054b35a6df6fc908e172
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf9f2dcce350169be2752180bb432e319d63cf8
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7fced8f8c19892d26aa430e5a3e70ebc3ecd1c4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_8_env0.json
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--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_8_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/log_9_env0.json
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-20_harness/ButterAboveRaisinTask/run_0.hdf5
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index 0000000000000000000000000000000000000000..77a2ae7778e794fa0ba88f9829939a8393ec02e2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, 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"ClutterPumpkinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the pumpkins away in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put all the pumpkins away in the bin", "vague": "Clean up pumpkins", "specific": "Pick up the big and small pumpkins from the table and place them all into the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f5aa02facab01323c8a7e55c54280faf50e750
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 0, "success": true, "final_step": 920, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 551, "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": 0.5}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 920, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..55b58c85909737d4c20e5b1595b42bc42ee975ff
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinlarge', 'pumpkinsmall'])", "score": 0.0}, {"step": 189, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinlarge', 'pumpkinsmall'])", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 254, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.164m", "score": 0.0}, {"step": 294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 798, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 798, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 824, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 824, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 944, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1033, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1033, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1093, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for pumpkinlarge. All conditions satisfied for pumpkinlarge.", "score": 0.5}, {"step": 1218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 1244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}, {"step": 1305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 1314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}, {"step": 1331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 1350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..878d5023cb1e0ebec232118102fbc20fc8212d1c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 2, "success": true, "final_step": 826, "events": [{"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 501, "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": 0.5}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 826, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b421aa106952a01c67088e8c1d5f617c4b0af19
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 3, "success": true, "final_step": 876, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 265, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 267, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 478, "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": 0.5}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 876, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7a76a27d9c60b2a023fc3dc9a81b024ec1acb8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 4, "success": true, "final_step": 871, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 552, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 552, "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": 0.5}, {"step": 553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 871, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d8629aa74eb302bb0f60f591ec21c2d35de39b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 575, "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": 0.5}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 930, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 940, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 943, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 943, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 951, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1085, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1085, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1086, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1099, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1099, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 1331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0502f3cd1181f18753c04ff3a04b21a1dea5cd
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 669, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 915, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1002, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1002, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1026, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 1034, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1034, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1070, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1128, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..078280c4b46f7dc56a70d5d735e785cb57e2bf28
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 237, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinlarge', 'pumpkinsmall'])", "score": 0.0}, {"step": 237, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 760, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 945, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 958, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 958, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 1253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milkjug_a01' nudged 0.084m", "score": 0.0}, {"step": 1285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a03'", "score": 0.0}, {"step": 1322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 1334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..333e1496640b1906db3ea79fb5d7bdae25553cea
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 8, "success": true, "final_step": 998, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.0}, {"step": 614, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 614, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 620, "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": 0.5}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.5}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.5}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 998, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90523a7c9f7b13cc4b6f0bb48fb81436416bc60
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPumpkinTask", "env_id": 0, "run": 9, "success": true, "final_step": 1176, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 190, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinlarge', 'pumpkinsmall'])", "score": 0.0}, {"step": 190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 208, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinlarge', 'pumpkinsmall'])", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 663, "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": 0.5}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 805, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 929, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinlarge). regressing to step 0 for pumpkinlarge.", "score": 0.5}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinlarge). advanced 1 step(s) to step 1 for pumpkinlarge.", "score": 0.5}, {"step": 1016, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1036, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1176, "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/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-20_harness/ClutterPumpkinTask/run_0.hdf5
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b65264f113636ad25c057ec38781bff60ff2418
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 1146, "events": [{"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 279, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.052m", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 573, "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": 0.5}, {"step": 824, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1030, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1146, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1085b291f398d592930e1ab4257766a7411a1bbc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 485, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.064m", "score": 0.0}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 846, "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": 0.5}, {"step": 848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 959, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.083m", "score": 0.5}, {"step": 1206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e14f41d859476c3957629af4e5e355dfb2f936
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 1055, "events": [{"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 459, "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": 0.5}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 893, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1055, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc7f9173a8608894e8fdf88676553e54ef48328
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 3, "success": true, "final_step": 1136, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 751, "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": 0.5}, {"step": 850, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.5}, {"step": 855, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 996, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 1136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1136, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..642bcb5f6ca04f27fed10c8a0b815123123cc493
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 4, "success": true, "final_step": 803, "events": [{"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 526, "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": 0.5}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 803, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..44950251ccc43db529f92618eb697514a82bfbc2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 5, "success": true, "final_step": 692, "events": [{"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 436, "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": 0.5}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 563, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 565, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 692, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1471c13913800ffda4f265e3d572760c39aa783
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 6, "success": true, "final_step": 1124, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"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=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 574, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 574, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 750, "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": 0.5}, {"step": 938, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba295a63242d50b02de2beba1e0d53f6a0aa92bf
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.063m", "score": 0.0}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.109m", "score": 0.0}, {"step": 270, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.269m", "score": 0.0}, {"step": 274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.058m", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.0}, {"step": 481, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 681, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 681, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 688, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 695, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 779, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 779, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 782, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 784, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 791, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 792, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 795, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 796, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 884, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 884, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.156m", "score": 0.0}, {"step": 959, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 959, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.0}, {"step": 979, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1052, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.0}, {"step": 1057, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.222m", "score": 0.0}, {"step": 1117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 1205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.0}, {"step": 1206, "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": 0.5}, {"step": 1257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.070m", "score": 0.5}, {"step": 1271, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f481e8a5c174362515ac8ae3380465927fcb9a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsGreenLimesOnPlateTask", "env_id": 0, "run": 8, "success": true, "final_step": 1289, "events": [{"step": 248, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['lime01_01', 'lime01'])", "score": 0.0}, {"step": 248, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 594, "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": 0.5}, {"step": 911, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.099m", "score": 0.5}, {"step": 1025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1061, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1070, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1070, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5}, {"step": 1197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5}, {"step": 1289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1289, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..01abd1fd67809a262ee2ab6b46263897a58300db
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsGreenLimesOnPlateTask/log_9_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f628d596ff7fd155f5db5ee419d714625c2b34
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 361, "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": 0.5}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 361, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef22b9bf6bc911b5394ec8d5b0dd1239550ba52
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 1, "success": true, "final_step": 496, "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": 0.5}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 496, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee322def5fb7131c46a8d9351c642e2058180c1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 451, "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": 0.5}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 451, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c6c4b1a485422ebb4d3123fbc83338207db747
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 3, "success": true, "final_step": 633, "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": 0.5}, {"step": 237, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.5}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 268, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 269, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 338, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 340, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.094m", "score": 0.5}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 633, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..afc47f681573f71cb1499def22c07cdd25a9e4b9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 4, "success": true, "final_step": 766, "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": 0.5}, {"step": 206, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.5}, {"step": 232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 364, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"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": 0.5}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 613, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 613, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 630, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 766, "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/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd293c836bb5210731f4921e35e573668643503
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "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": 0.5}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.079m", "score": 0.5}, {"step": 201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.204m", "score": 0.5}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 489, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 489, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 501, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 538, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..459b22a232e2c9cd93db130cf56baef53702a99f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 6, "success": true, "final_step": 1330, "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": 0.5}, {"step": 242, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.5}, {"step": 265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 269, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_02', 'orange_01'])", "score": 0.5}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.5}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 376, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.128m", "score": 0.5}, {"step": 426, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.364m", "score": 0.5}, {"step": 531, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.157m", "score": 0.5}, {"step": 560, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.152m", "score": 0.5}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.109m", "score": 0.5}, {"step": 826, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.328m", "score": 0.5}, {"step": 851, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.061m", "score": 0.5}, {"step": 922, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.055m", "score": 0.5}, {"step": 925, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.149m", "score": 0.5}, {"step": 946, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.085m", "score": 0.5}, {"step": 1006, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.171m", "score": 0.5}, {"step": 1031, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.052m", "score": 0.5}, {"step": 1231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.099m", "score": 0.5}, {"step": 1256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.5}, {"step": 1306, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.089m", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7e42455cfa1447ed06da21bc8b9a3ac7e0525a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 7, "success": true, "final_step": 511, "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. 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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/FruitsOrangesOnPlateTask/log_8_env0.json
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0x7fedf5dabb00>, object='marker', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "moderate"], "_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..133ea8183e3e3ba2a5a19e921367c8dd411c6de8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 274, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 298, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.050m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..927cb0120e154ffa83458d4e028a0fbe3a77de1c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1385d6731b9920d0e2bb9cca713aa82b1c6374c2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['marker'])", "score": 0.0}, {"step": 203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['marker'])", "score": 0.0}, {"step": 216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['marker'])", "score": 0.0}, {"step": 220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 301, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 475, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 475, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a026709ce6efbb230db0fe2c788792c8ea3738f0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 3, "success": false, "final_step": 600, "events": [{"step": 229, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 461, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5baa5b10e45003f1da5bb84aa5a2f7cf0d60b614
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/MarkerInMugTask/log_9_env0.json
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"harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee989025c3bacce1063a68c922b6a07bb14868e8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 108, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.064m", "score": 0.5}, {"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 119, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 395, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.062m", "score": 0.5}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f25db2937de41d47ef3bf2f952d294d523fd539e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_1_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9751f661bcc092d1f064240629001fdc399b489
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 165, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 427, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 431, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 444, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 450, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.177m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..863f1d5ee537a7bd03e029e26da29e84ef9de53d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 3, "success": true, "final_step": 434, "events": [{"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 434, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_blue_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f0f2d55e1b101edd0b1ad10d4af5f97115df0c
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+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_4_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6dc3044b8af91832f4b4c32ce3cacaf166aaa4c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 5, "success": true, "final_step": 424, "events": [{"step": 99, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 129, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 130, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 368, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 368, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 369, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 375, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 388, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 424, "code": 128, "name": "OBJECT_ABOVE_SUCCESS", "info": "Completed subtask 'pick_blue_object' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e022e6a4169de7814c4c336348ca17e599fd4b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c559e9a0d5a8a91d7165d92b288766d83d17410
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 7, "success": false, "final_step": 450, "events": [{"step": 159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 204, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 215, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.054m", "score": 0.5}, {"step": 317, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 345, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.136m", "score": 0.5}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 414, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_8_env0.json
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--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 8, "success": false, "final_step": 450, "events": [{"step": 215, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticjerrican_a02'", "score": 0.0}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticjerrican_a02' (target objects: ['group2', 'group1'])", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticjerrican_a02' nudged 0.098m", "score": 0.0}, {"step": 341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticjerrican_a02'", "score": 0.0}, {"step": 405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticjerrican_a02' (target objects: ['group2', 'group1'])", "score": 0.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticjerrican_a02'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/log_9_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-20_harness/PickUpBluePitcherTask/run_0.hdf5
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6f5b112033a52ca1e9938d286cada798007b61
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 351, "code": 139, "name": 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c49987ed85eb8d121140e8550ddc4572acde6f34
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 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"score": 0.0}, {"step": 712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 904, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 904, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 908, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1043, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1050, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1128, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f28f9700d4a7f521ae6dc95d02e341b581f76b8
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 455, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 455, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 719, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 719, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 803, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2917dd310365e4e97afe5dcddba74f540a48b4fb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 619, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 619, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 704, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 915, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 996, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1016, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1040, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1040, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1083, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1083, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1084, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a684ab7d9069e6331b623dd88d5d96a5a420a886
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 755, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.070m", "score": 0.0}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 914, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1131, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 1133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebc9ab73d8dedc7e9d3d78f7e462fd758277c7e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1089, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1089, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1090, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..290dcf71e6a892905934f42e112b74a5ed8915f0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 358, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 562, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd8253450542cfcfcf1591a50c1cdf2005c35ede
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 7, "success": true, "final_step": 1222, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 483, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 485, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 733, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 918, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1028, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1028, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1030, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1073, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1081, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1222, "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/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c0a8730b2a0a0cc2b268dd2c1a30d9626e34078
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 8, "success": true, "final_step": 1156, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 720, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d219b207d2e23c0ee04ee4359b268df5a779604c
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@@ -0,0 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..742f6e5ab00eac774e6f08ebab5ac0dc9623d75a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..be3b6761ae7ae904ebb038d683bff3b0971b2000
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 395, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.095m", "score": 0.0}, {"step": 621, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.060m", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 757, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 1070, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f9d03e0bb1baae6be140e72c13b8ae2f774aae
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 775, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 961, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1021, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1080, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1080, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1273, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 1305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9882a772d4c36d7b38c20f2e1d24102bd7219ef3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 594, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=milk_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 1 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 823, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 960, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 961, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 993, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.5}, {"step": 1003, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1016, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1038, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5552285e4501f29e1e0b58eb1cfaa5c4d2d7d284
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 307, "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1211, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 1218, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 1.0}, {"step": 1219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milk_carton' nudged 0.051m", "score": 1.0}, {"step": 1233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milk_carton' nudged 0.266m", "score": 1.0}, {"step": 1299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1340, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milk_carton' nudged 0.084m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3dd6bd2cc92ce8c44ccd37cda843c0c8f62ccbc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 866, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 988, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1115, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a55438415a3f0bfe98486a9367eb17b69820092
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 513, "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_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 703, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.053m", "score": 0.0}, {"step": 896, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 907, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.062m", "score": 0.0}, {"step": 994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 998, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1001, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1001, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89c4bd6c200ded2160c7e61c409c52d339be7c7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 484, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 484, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 672, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 775, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 925, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1007, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1049, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.222m", "score": 0.5}, {"step": 1149, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mayonnaise_bottle' displaced 0.607m", "score": 0.5}, {"step": 1194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.197m", "score": 0.5}, {"step": 1203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.100m", "score": 0.5}, {"step": 1266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.378m", "score": 0.5}, {"step": 1286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.138m", "score": 0.5}, {"step": 1297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a726fa4e46edcc2f94478481a550706c5e7ce11
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 549, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 940, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 941, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 1.0}, {"step": 965, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'milk_carton' nudged 0.306m", "score": 1.0}, {"step": 992, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 1.0}, {"step": 1049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1062, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cubebox_a02' (target objects: [])", "score": 1.0}, {"step": 1063, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cubebox_a02'", "score": 1.0}, {"step": 1070, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.071m", "score": 1.0}, {"step": 1189, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_juice_carton'", "score": 1.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_juice_carton' (target objects: [])", "score": 1.0}, {"step": 1205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1206, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_juice_carton'", "score": 1.0}, {"step": 1293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_juice_carton' (target objects: [])", "score": 1.0}, {"step": 1294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1295, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_juice_carton'", "score": 1.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..688a9086c4e4aec2f43923fc216d03eec879abe4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 9, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 653, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 915, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 916, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 930, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1096, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_juice_carton, reference_object=cubebox_a02, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 1192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1328, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 1330, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-20_harness/RecycleCartonsOnBoxTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5be3590c34f2955b5345df476f0c727872d35658
--- /dev/null
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"Reorient all the mugs upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Reorient all the mugs upright so that the opening is facing upwards.", "vague": "Make sure the mugs are upright", "specific": "Check each mug on the table and if any are tipped over or inverted, rotate them so the opening faces upward. Leave it if it's already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac03546a72387a09165b55c67d9e15f06aa157d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.109m", "score": 0.16666666666666666}, {"step": 267, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 1 step(s) to step 2 for reorienting_red_mug. 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nudged 0.069m", "score": 0.5}, {"step": 821, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.105m", "score": 0.3333333333333333}, {"step": 921, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 926, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 932, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 955, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1062, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1069, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 1069, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1084, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1084, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1085, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1088, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 1088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.094m", "score": 0.5}, {"step": 1198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 1198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.292m", "score": 0.3333333333333333}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b72832352906935c91989613978208bce57d522
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 161, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 263, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 458, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.067m", "score": 0.3333333333333333}, {"step": 458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 609, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.3333333333333333}, {"step": 630, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 732, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 885, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 888, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 979, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 979, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1003, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1053, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1056, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1056, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1098, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.105m", "score": 0.3333333333333333}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed38c60a1e503bfce0cb1db02d41ccf29e6be1ac
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 283, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 417, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 432, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.258m", "score": 0.0}, {"step": 506, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 538, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 626, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.141m", "score": 0.16666666666666666}, {"step": 645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.076m", "score": 0.16666666666666666}, {"step": 649, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.067m", "score": 0.16666666666666666}, {"step": 658, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 1 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 662, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 900, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 935, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 968, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 977, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 998, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.085m", "score": 0.5}, {"step": 1061, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 1061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1066, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1089, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1094, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1095, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 1105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1107, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.169m", "score": 0.3333333333333333}, {"step": 1126, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1260, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1333, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1336, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 1336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.5}, {"step": 1337, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d3402878240b362bcae88166cb7d06a2c9a9b0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 232, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 473, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 473, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 473, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 490, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.074m", "score": 0.0}, {"step": 490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 672, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.096m", "score": 0.16666666666666666}, {"step": 706, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.148m", "score": 0.16666666666666666}, {"step": 723, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 728, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 728, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 729, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 742, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.165m", "score": 0.0}, {"step": 954, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 992, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 1015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 1080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 1191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 1219, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.16666666666666666}, {"step": 1220, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 1221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 1259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 1302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 1303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 1303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 1305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 1307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb82db1009f219f1b9b9a00270c1c1efedc9d3e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.098m", "score": 0.16666666666666666}, {"step": 321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=sideways_white_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_sideways_white_mug. All conditions satisfied for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 447, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.165m", "score": 0.5}, {"step": 493, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.172m", "score": 0.3333333333333333}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 704, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 774, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 790, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.6666666666666666}, {"step": 797, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.065m", "score": 0.6666666666666666}, {"step": 856, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.8333333333333334}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 890, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8333333333333334}, {"step": 1127, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1218, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.098m", "score": 0.6666666666666666}, {"step": 1243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 1302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b0461534fb5acf795886a43832612471f546c5
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 5, "success": true, "final_step": 888, "events": [{"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 184, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.5}, {"step": 281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.104m", "score": 0.5}, {"step": 381, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=sideways_white_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_sideways_white_mug. All conditions satisfied for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 558, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8333333333333334}, {"step": 558, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.8333333333333334}, {"step": 558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 578, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.051m", "score": 0.6666666666666666}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 743, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 744, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.8333333333333334}, {"step": 837, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 857, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.8333333333333334}, {"step": 863, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8333333333333334}, {"step": 881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.6666666666666666}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.6666666666666666}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ac654e254c9652914ebfeab4b554287be9bd57
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 258, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 285, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.16666666666666666}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 310, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.081m", "score": 0.0}, {"step": 774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 778, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 782, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 783, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.115m", "score": 0.0}, {"step": 898, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 1010, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 1014, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 1015, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 1089, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 1106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 1107, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 1114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 1115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 1148, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 1148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 1148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 1162, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.091m", "score": 0.16666666666666666}, {"step": 1196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.066m", "score": 0.16666666666666666}, {"step": 1217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.076m", "score": 0.16666666666666666}, {"step": 1221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1221, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "success: object_upright(object=ceramic_mug, require_gripper_detached=True). advanced 1 step(s) to step 2 for reorienting_ceramic_mug. All conditions satisfied for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 1253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.190m", "score": 0.3333333333333333}, {"step": 1284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.145m", "score": 0.3333333333333333}, {"step": 1299, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.069m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c26669433fdbc5c4ad1fff43462ce59dc55e522
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 7, "success": true, "final_step": 1343, "events": [{"step": 156, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 163, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 164, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 294, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 294, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.294m", "score": 0.16666666666666666}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 337, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 339, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=ceramic_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_ceramic_mug. All conditions satisfied for reorienting_ceramic_mug.", "score": 0.3333333333333333}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.6666666666666666}, {"step": 353, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.191m", "score": 0.6666666666666666}, {"step": 547, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.8333333333333334}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 717, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.097m", "score": 0.8333333333333334}, {"step": 719, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 731, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.119m", "score": 0.6666666666666666}, {"step": 964, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1051, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1064, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.6666666666666666}, {"step": 1077, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1077, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1079, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1079, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1080, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1081, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1082, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1083, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1083, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1084, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1154, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8333333333333334}, {"step": 1163, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1169, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.077m", "score": 0.6666666666666666}, {"step": 1244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.8333333333333334}, {"step": 1244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.8333333333333334}, {"step": 1248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8333333333333334}, {"step": 1282, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.126m", "score": 0.8333333333333334}, {"step": 1302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.118m", "score": 0.8333333333333334}, {"step": 1306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.6666666666666666}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.6666666666666666}, {"step": 1343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92d9d9bd63d541217a87920a136f9186a0e1ace
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 348, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 351, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 546, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.085m", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.126m", "score": 0.0}, {"step": 676, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=sideways_white_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_sideways_white_mug. All conditions satisfied for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 1068, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.144m", "score": 0.3333333333333333}, {"step": 1093, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.140m", "score": 0.3333333333333333}, {"step": 1094, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 1118, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.146m", "score": 0.5}, {"step": 1144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 1145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.3333333333333333}, {"step": 1229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.177m", "score": 0.3333333333333333}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_upright(object=red_mug, require_gripper_detached=True). advanced 2 step(s) to step 2 for reorienting_red_mug. All conditions satisfied for reorienting_red_mug.", "score": 0.6666666666666666}, {"step": 1268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.091m", "score": 0.6666666666666666}, {"step": 1293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.317m", "score": 0.6666666666666666}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.246m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..383cb0859d89a829482dcc984cda27b8c14aebb6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 0, "run": 9, "success": false, "final_step": 1350, "events": [{"step": 280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 435, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.105m", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 538, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 542, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 741, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.0}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 762, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 763, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 765, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.16666666666666666}, {"step": 766, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 767, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 776, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 785, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 823, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.16666666666666666}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.195m", "score": 0.0}, {"step": 922, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.0}, {"step": 928, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.076m", "score": 0.0}, {"step": 942, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.216m", "score": 0.0}, {"step": 963, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 1046, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.114m", "score": 0.0}, {"step": 1116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.0}, {"step": 1118, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 1118, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.147m", "score": 0.0}, {"step": 1119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.0}, {"step": 1131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 1153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.161m", "score": 0.0}, {"step": 1209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 1209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.16666666666666666}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 1253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.073m", "score": 0.0}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug', 'reorienting_red_mug', 'reorienting_ceramic_mug'])", "score": 0.16666666666666666}, {"step": 1284, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 1284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for reorienting_ceramic_mug.", "score": 0.16666666666666666}, {"step": 1302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 1303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for reorienting_ceramic_mug.", "score": 0.0}, {"step": 1314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.057m", "score": 0.0}, {"step": 1336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1345, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.076m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-20_harness/ReorientAllMugsTask/run_0.hdf5
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"gripper_closure_cfg": null, "instruction": "Put the metal spoon that's in the wooden bowl in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the metal spoon that's in the wooden bowl in the mug", "vague": "Put the spoon in the mug", "specific": "Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..905f59f1cbfc2381f2eb858b5d2458f3b6d54d4d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 381, "events": [{"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 381, "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/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b31f6637c7533acff662521316115aaf0efe9f5f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 300, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.107m", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3224d1b24ed81051fdd6133959fd067bf05a5cb6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 263, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 263, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 303, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 313, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 348, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 382, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.078m", "score": 0.0}, {"step": 382, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.105m", "score": 0.0}, {"step": 393, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'keyboard'", "score": 0.0}, {"step": 396, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'keyboard' displaced 0.894m", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 843, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc5e7a831f2f81bd20c923461e8e01b9039fac0e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_3_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_4_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_5_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/SpoonInMugTask/log_9_env0.json
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"contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the wooden spatula in the bowl", "vague": "Put the wood utensil in the bowl", "specific": "Pick up the wooden spatula from the utensils box on the table and place it inside the wooden bowl in the center of the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3571ed715aac36d0e9affda8755c4d7ca5e0da5a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.157m", "score": 0.0}, {"step": 12, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.929m", "score": 0.0}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 563, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 814, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.392m", "score": 0.0}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10823970671d7e190ced770a3b62ea7ea5963b2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 624, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 218, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 624, "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/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f8c2fabeea73dd14068725420b522bb456bf4bb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 302, "events": [{"step": 6, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.143m", "score": 0.0}, {"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc4429946a5d18e05e7fc3fbdbb65fb9b9a2811f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_3_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_4_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/WoodSpatulaToBowlTask/log_9_env0.json
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the small red yogurt in the red bowl", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Put the small red yogurt in the red bowl", "vague": "Put the yogurt in the bowl", "specific": "Pick up the small red yogurt container and place it inside the red bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ef349b603b28f8b1cd52e0e1bb8773e775f4f6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 288, "events": [{"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 288, "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/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23b3fb3a04a8df93ed347c02e5f084bd5f0e97bd
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 279, "events": [{"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 279, "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/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eb4dc501bb19f9d8a5d4056b38eb6c549fd1f20
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 358, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 358, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 358, "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/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a036843e36820fed00d131f21648304f01979d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 390, "events": [{"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 390, "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/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-20_harness/YogurtInBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3398bd088c5e86ec1ab8a0749d6468e24496123
--- /dev/null
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90824edb66fc6149856859181e39ba817df5165
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 2 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad5af9f8eac2a2f1ea487f2b11dc8cddd4c86e3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 524, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 524, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 528, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 1 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 640, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 675, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 719, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 719, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['bagel_06', 'bagel_00'])", "score": 0.5}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.5}, {"step": 862, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.055m", "score": 0.5}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 900, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bcf2eeaa162636e49dec1bfcd7d96830cf4f5e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 660, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 876, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf3a2b3a003532e9e4414231e661c3ac4a7dbb4f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 179, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 385, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 1 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 713, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 820, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 875, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.186m", "score": 0.5}, {"step": 893, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.155m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2310cf399f3f319443a70a6894b786561ce71a3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 333, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 1 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 582, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 765, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 869, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 869, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 892, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['bagel_06', 'bagel_00'])", "score": 0.5}, {"step": 892, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..832d7afd42832eef579573720403407256a32138
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 681, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 2 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 815, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 815, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 866, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e9f3bca13d95f80098ed985c3616cf910904f5
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 642, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 665, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 683, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['bagel_06', 'bagel_00'])", "score": 0.0}, {"step": 769, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 771, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 773, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 790, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 813, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 818, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 818, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..934fe7e9c9575a34f9f29f38e18b00dfe2b7b539
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 325, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 743, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 1 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 854, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 865, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.5}, {"step": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 888, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.5}, {"step": 893, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['bagel_06', 'bagel_00'])", "score": 0.5}, {"step": 893, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b3eef4c67c560c80b537c944a10ad8a14bea972
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BagelsOnPlateTask/log_9_env0.json
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10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb3e1c08c7fd6d0b3f0f088bd30a270b8926a1be
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 628, "events": [{"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 366, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 372, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 393, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 407, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.061m", "score": 0.5}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 628, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d8359ccf1276db8893c775a3f86940dab8533e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 717, "events": [{"step": 206, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 302, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 433, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 684, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48a56e91a09c202c5793c08f4abd19b420a0694
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 864, "events": [{"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 386, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 841, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..763dbb975fed50883449fd4e00305abd6e7270fe
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 240, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 510, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 510, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 513, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 515, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 518, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 520, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 664, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 744, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 756, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 808, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 811, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 870, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 879, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.060m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f138382d32fcea5418cb05c6d9de0988c354a458
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 736, "events": [{"step": 219, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 353, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 353, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 353, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 356, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 359, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 575, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 575, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 686, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 687, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 687, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 1.0}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 689, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 692, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 693, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 694, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 695, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..35386a69a4220616faae4bcf8ca5c85930773ff1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 5, "success": true, "final_step": 871, "events": [{"step": 213, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 387, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 388, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 396, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 502, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 510, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 516, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 644, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 663, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 713, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 844, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8802de5cfbeba1a8ccb1d1b44e9e2ee4bb054198
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 625, "events": [{"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 267, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 289, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 390, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 390, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 390, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 394, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 397, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 620, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 621, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad91adbe847e9b5baed5d4a4929134917f608a58
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 622, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 685, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.060m", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 711, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 821, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 823, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 854, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 891, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 891, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 892, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5ac0973d230a001e953aa8cd675378accfa5d2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_8_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BananaThenRubiksCubeTask/log_9_env0.json
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"computer_mouse": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='computer_mouse')", 0.0], ["functools.partial(<function object_in_container at 0x7f603a93b060>, object='computer_mouse', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "smartphone": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f603a93b060>, object='smartphone', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "glasses": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='glasses')", 0.0], ["functools.partial(<function object_in_container at 0x7f603a93b060>, object='glasses', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "complex"], "_task_attributes": ["color", "sorting", "complex"], "_task_name": "BlackItemsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the black items in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the black items in the grey bin", "vague": "Clean up the dark items", "specific": "Identify all black-colored objects on the table and place them into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9c247e92b41cbd9d08537d286a37fcc000ac66
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 513, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 521, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 537, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 685, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.4}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 925, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.6}, {"step": 1046, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1051, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1051, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1065, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1220, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.6}, {"step": 1270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1581, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1681, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1681, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=glasses, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for glasses. All conditions satisfied for glasses.", "score": 0.8}, {"step": 1758, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.8}, {"step": 1762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.053m", "score": 0.8}, {"step": 1767, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.8}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d020a91c156f535b0dbf38f5ff92bb5a8f9689b2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 220, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 630, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 669, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.050m", "score": 0.2}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 843, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 934, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.2}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 1222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 1322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 1392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 1415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1506, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1535, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 1544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 1654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1721, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1723, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 1747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..79abd4fa4525f4dc234506817cccfc8ea3113a3b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 422, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.2}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1001, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.2}, {"step": 1027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.2}, {"step": 1032, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 1056, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 1236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1236, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.4}, {"step": 1312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 1358, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 1395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 1499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1499, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.6}, {"step": 1648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.8}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.8}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.8}, {"step": 1788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82a4dd40869b0ddcce6daaf1ae44a6b2ed070a7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 425, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 688, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.4}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 821, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.6}, {"step": 1017, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1037, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1037, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1087, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6}, {"step": 1091, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.053m", "score": 0.6}, {"step": 1719, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1768, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=glasses, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for glasses. All conditions satisfied for glasses.", "score": 0.8}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..576e7ad9d0de07db43f767ecfe255b8d19c0e8a6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 1746, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 656, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 656, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 941, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 984, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 984, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 1027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 1074, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 1166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1166, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.6}, {"step": 1261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.6}, {"step": 1265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.6}, {"step": 1266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.6}, {"step": 1268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.6}, {"step": 1269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.6}, {"step": 1277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6}, {"step": 1278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.6}, {"step": 1287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.6}, {"step": 1305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1372, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.8}, {"step": 1393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1468, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.212m", "score": 0.8}, {"step": 1486, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.8}, {"step": 1487, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.8}, {"step": 1488, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.8}, {"step": 1488, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8}, {"step": 1490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.116m", "score": 0.8}, {"step": 1491, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8}, {"step": 1506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.8}, {"step": 1530, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.8}, {"step": 1530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.145m", "score": 0.8}, {"step": 1531, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.8}, {"step": 1532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1536, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.052m", "score": 0.8}, {"step": 1550, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.8}, {"step": 1567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.070m", "score": 0.8}, {"step": 1646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.8}, {"step": 1647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.8}, {"step": 1648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.8}, {"step": 1657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.8}, {"step": 1659, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8}, {"step": 1667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.8}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1746, "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/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4491fdfdd7cd9e0052f884c7b8222c03c573909a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 5, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 338, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.2}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.2}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 601, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.4}, {"step": 697, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.4}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 756, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 756, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 940, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.4}, {"step": 961, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.4}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.4}, {"step": 1048, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.055m", "score": 0.4}, {"step": 1134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1134, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.6}, {"step": 1300, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6}, {"step": 1323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.6}, {"step": 1353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.6}, {"step": 1512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1563, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1661, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6}, {"step": 1663, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6}, {"step": 1678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1769, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=glasses, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for glasses. All conditions satisfied for glasses.", "score": 0.8}, {"step": 1770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca8ea3b8c45e541cdeffd1c69a3a73490f8c9fe4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 6, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.2}, {"step": 442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.114m", "score": 0.2}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.075m", "score": 0.2}, {"step": 695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 792, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 792, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 795, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 926, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 928, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 928, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 971, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 995, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.2}, {"step": 1038, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.2}, {"step": 1155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1155, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=computer_mouse, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for computer_mouse. All conditions satisfied for computer_mouse.", "score": 0.4}, {"step": 1165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1168, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.4}, {"step": 1169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.4}, {"step": 1449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1449, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.6}, {"step": 1566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1691, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=glasses, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for glasses. All conditions satisfied for glasses.", "score": 0.8}, {"step": 1700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.076m", "score": 0.8}, {"step": 1752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.8}, {"step": 1757, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8}, {"step": 1757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}, {"step": 1757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.8}, {"step": 1766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.8}, {"step": 1780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8}, {"step": 1780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.8}, {"step": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e7dce1629fb735cba37c45218cd94cd7faad11
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 9, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'yogurt_cup'", "score": 0.2}, {"step": 19, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yogurt_cup' displaced 0.766m", "score": 0.2}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 519, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.2}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.2}, {"step": 596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 654, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2}, {"step": 665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2}, {"step": 665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.2}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 839, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1223, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.157m", "score": 0.4}, {"step": 1239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1505, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.4}, {"step": 1538, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1553, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.4}, {"step": 1558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1577, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.054m", "score": 0.4}, {"step": 1589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1627, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.212m", "score": 0.4}, {"step": 1630, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 1701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.254m", "score": 0.4}, {"step": 1702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff85d4f8af0d8f1f4bbe98247136c16b82eca54
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 8, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 496, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. All conditions satisfied for smartphone.", "score": 0.4}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 698, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.4}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.4}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.4}, {"step": 719, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 719, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=remote_control, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for remote_control. All conditions satisfied for remote_control.", "score": 0.6}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 934, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 935, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 935, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 942, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6}, {"step": 973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1035, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=computer_mouse). advanced 1 step(s) to step 1 for computer_mouse.", "score": 0.6}, {"step": 1579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=computer_mouse). regressing to step 0 for computer_mouse.", "score": 0.6}, {"step": 1672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1749, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.6}, {"step": 1772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=glasses). advanced 1 step(s) to step 1 for glasses.", "score": 0.6}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=glasses). regressing to step 0 for glasses.", "score": 0.6}, {"step": 1787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6}, {"step": 1795, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.6}, {"step": 1795, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.6}, {"step": 1797, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.6}, {"step": 1800, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['computer_mouse', 'glasses', 'remote_control', 'smartphone', 'keyboard'])", "score": 0.6}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ddc8a631cdb9cfd9f5179b2b2784b27c8199406
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BlackItemsInBinTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlackItemsInBinTask", "env_id": 0, "run": 9, "success": false, "final_step": 1800, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=keyboard, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for keyboard. All conditions satisfied for keyboard.", "score": 0.2}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.2}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2}, {"step": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.4}, {"step": 486, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=smartphone, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for smartphone. 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0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 20, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["bowl_1"], "container": "bowl_2", "gripper_name": "gripper", "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_in_container at 0x7f72022a65c0>, object=['bowl_1'], container='bowl_2', gripper_name='gripper', require_contact_with=True, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_bowl_right_on_left"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "BowlStackingRightOnLeftTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the right bowl on the left bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0c0f3cd16063b62d341ab9730bb91500b201b9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.137m", "score": 0.0}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..724ca7bb16aa1a474ab1183b936b2f6d0b22c87f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 1, "success": true, "final_step": 260, "events": [{"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 248, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.255m", "score": 0.0}, {"step": 260, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 1.0}, {"step": 260, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42332be919759b294be87817c7147fcbae3f6e2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 2, "success": true, "final_step": 249, "events": [{"step": 192, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.133m", "score": 0.0}, {"step": 248, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 249, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef6839a213b8e60d6b316af278879704d1e1eb1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 3, "success": false, "final_step": 300, "events": [{"step": 125, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 173, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.141m", "score": 0.0}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.096m", "score": 0.0}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 267, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.110m", "score": 0.0}, {"step": 287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.072m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3b8241277b56cce98827287feff52f4c01e718
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 4, "success": false, "final_step": 300, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.121m", "score": 0.0}, {"step": 250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.075m", "score": 0.0}, {"step": 276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.219m", "score": 0.0}, {"step": 296, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.192m", "score": 0.0}, {"step": 298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d989e3c1a9a63c996b4621665ee7cd7d8a1c3c7
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 5, "success": true, "final_step": 284, "events": [{"step": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 205, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 223, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 259, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 278, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.175m", "score": 0.0}, {"step": 284, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb6e564a901be180d7ff1bf9aa668988d42183c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 6, "success": false, "final_step": 300, "events": [{"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 150, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.061m", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.167m", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.051m", "score": 0.0}, {"step": 291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 297, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.050m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/BowlStackingRightOnLeftTask/log_7_env0.json
new file mode 100644
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7cdc97f711f05f5619f98981460c947ce5bd12f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 385, "events": [{"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 385, "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/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1db83f77c066a1fdcfc8f89b9e7e77742dc7c9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 778, "events": [{"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 488, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "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=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 638, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 778, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 778, "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/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b376a9a85aef20fe9bb09377bf92808439fe2d
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_3_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_4_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/CannedFoodInBinTask/log_9_env0.json
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"params": {}, "time_out": true}, "success_banana": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "banana", "surface": "table", "distance": 0.05}, "time_out": false}, "success_banana_01": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "banana_01", "surface": "table", "distance": 0.05}, "time_out": false}, "success_apple": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "apple_01", "surface": "table", "distance": 0.05}, "time_out": false}, "success_orange": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "orange2", "surface": "table", "distance": 0.05}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='banana')", 1.0]], "group2": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='banana_01')", 1.0]], "group3": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='apple_01')", 1.0]], "group4": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='orange2')", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "grab_a_fruit"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "GrabAFruitTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up a fruit", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Pick up a fruit", "vague": "Grab a fruit", "specific": "Reach for and grasp any one of the fruits on the table and lift it off the surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..283a1b7b4549af15909e4f0f171440272909f8d9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 0, "success": true, "final_step": 216, "events": [{"step": 185, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a91c7551ca2ee413e5b24132a36059c11c11fc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 1, "success": true, "final_step": 296, "events": [{"step": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 171, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 178, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 1.0}, {"step": 232, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3248e5679556d889d2255cc99971015583da32b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 2, "success": true, "final_step": 271, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..096c418441ad5de322a7b938a0c8787b428d35be
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 3, "success": true, "final_step": 350, "events": [{"step": 219, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 224, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}, {"step": 245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 1.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange2' nudged 0.094m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a1d4f13f78cb0c7087bb86c119cd6acc69c874
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 4, "success": true, "final_step": 203, "events": [{"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..57250cbff86e3df70a190a568c16d75acb8e4fe3
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 5, "success": true, "final_step": 187, "events": [{"step": 140, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a340f55c7c0f4e4b5dc494411a35b7175376f226
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 6, "success": true, "final_step": 320, "events": [{"step": 286, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..24fa0f950568d15c2377c3b11d7474fc7a06c0b4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabAFruitTask", "env_id": 0, "run": 7, "success": true, "final_step": 197, "events": [{"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 1.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_fruit' 1/1", "score": 1.0}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: [])", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea854245f02952d61edf0b5c0a242808cbcda32
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/GrabAFruitTask/log_8_env0.json
@@ -0,0 +1 @@
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"robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "mustard", "container": "grey_bin_right", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7f31fcdc4220>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7f31fcdc4040>, object='mustard', container='grey_bin_right', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "MustardInRightBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the mustard in the right bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the right bin", "vague": "Use the right bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bd9315f22bf586597008c8b699e780fba5b6046
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aa8cf7fa628b8be21ae04b8b5d7094d6014f7e2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 96, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 99, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 99, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 443, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c164bcfa02d09d85631ec584d176017fdc139fb4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_right' nudged 0.061m", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_right' nudged 0.064m", "score": 0.0}, {"step": 414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_right' (target objects: ['mustard'])", "score": 0.0}, {"step": 436, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_right'", "score": 0.0}, {"step": 437, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_right'", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a240a300b1d07936f65551817c4c0fd9a93650a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 3, "success": true, "final_step": 251, "events": [{"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 251, "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/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bdb33497b9c92636ea2eba6bd7a77fea6407212
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInRightBinTask", "env_id": 0, "run": 4, "success": true, "final_step": 310, "events": [{"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 310, "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/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a927cc8aef5ac9c0c57cae793aa9b1f1a7f207
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..58fd58dd321c07505c2c116f367e5d2695bd460c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_6_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c055b16be3222d36936179a7aa73caa384fe4121
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..644d71a6b0689096d9ffbe31eacdb5a809895d96
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_9_env0.json
new file mode 100644
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--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/MustardInRightBinTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e00761197080ea91ac939e3da94bd15d842f1b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 139, 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{"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1023, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1050, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1050, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1258, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 1273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.122m", "score": 0.5}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c003464455b7b98acb3ae78515ad8e6207b05c2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully 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"info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a13194a6c8d26b88c4bd1d42bc5608d0b52cfc95
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "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=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 403, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 662, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 916, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 918, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 924, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 924, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 926, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1004, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1007, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 1045, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.079m", "score": 0.5}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'smartphone' nudged 0.066m", "score": 0.5}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.065m", "score": 0.5}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.085m", "score": 0.5}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.057m", "score": 0.5}, {"step": 1250, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'container_a01' displaced 0.791m", "score": 0.5}, {"step": 1250, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'container_a01'", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c35f4ade73e1f7a35cc76309c5fb6410897a0b66
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 3, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 556, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 653, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 679, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 972, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1231, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d3344fd9c01f4708801c32b81b24b42383b6a1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 4, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 359, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 726, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 865, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 975, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.077m", "score": 0.5}, {"step": 1034, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 1045, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'container_a01'", "score": 0.5}, {"step": 1053, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'container_a01' displaced 1.466m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e428c34c819d128b4dcc6ad2a82b72f74d73df
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 5, "success": true, "final_step": 1274, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 105, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 454, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 454, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 682, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 855, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 861, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 861, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1048, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 1075, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milk_carton'", "score": 1.0}, {"step": 1191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_juice_carton'", "score": 1.0}, {"step": 1227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_juice_carton' nudged 0.145m", "score": 1.0}, {"step": 1262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_juice_carton' nudged 0.220m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed955bd20623beb49a32565b3176e8bfb7498f83
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 559, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 706, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 843, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 879, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 937, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.057m", "score": 0.5}, {"step": 946, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.195m", "score": 0.5}, {"step": 1015, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1015, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}, {"step": 1281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.5}, {"step": 1309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..95680c03c206fa43ad8ed962daa6bb63c9b18aae
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 7, "success": true, "final_step": 1262, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 503, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'container_a01' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 507, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 508, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'container_a01'", "score": 0.5}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1003, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1003, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1074, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1074, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1262, "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/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42fee3910782629c3100f9b2589970dfa7b399f4
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 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"success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 809, 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RecycleCartonsVerticalCrateTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f14661402d2ae73939b90deff68e2c5bcf9dcc1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 339, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 229, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.148m", "score": 0.6666666666666666}, {"step": 302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.316m", "score": 0.6666666666666666}, {"step": 315, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 339, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d430882a3566ae089d81997f4e1edb90316bf655
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 366, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 184, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 276, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.086m", "score": 0.6666666666666666}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.345m", "score": 0.6666666666666666}, {"step": 345, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f703c6e9e5fae7750012da9991531d7b9d8ce1
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 253, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 163, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.101m", "score": 0.6666666666666666}, {"step": 216, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.309m", "score": 0.6666666666666666}, {"step": 224, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91ace628ccd5175dea3967e79c81e4424a1f016
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 251, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 115, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 122, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 125, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 143, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 143, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 164, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.085m", "score": 0.6666666666666666}, {"step": 214, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.346m", "score": 0.6666666666666666}, {"step": 220, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..299ba41736fcc80d58ac3ebcceaa792ecb854d65
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 344, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.117m", "score": 0.6666666666666666}, {"step": 317, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 325, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.330m", "score": 1.0}, {"step": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcb02eeab176585d24c823fd2b14d7c8232d0213
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 335, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 156, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.064m", "score": 0.6666666666666666}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.289m", "score": 0.6666666666666666}, {"step": 314, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01867915ba619ff34b2911bda25ac989f6621f6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 292, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 179, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 180, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 186, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 187, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 188, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.100m", "score": 0.6666666666666666}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.374m", "score": 0.6666666666666666}, {"step": 271, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 292, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..60498d68e819fcfbf418a9cf7b0ec8b4ba34b27e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 305, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group2', 'group3'])", "score": 0.6666666666666666}, {"step": 181, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.081m", "score": 0.6666666666666666}, {"step": 242, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.296m", "score": 0.6666666666666666}, {"step": 248, "code": 133, "name": "OBJECT_LEFT_OF_SUCCESS", "info": "Completed subtask 'rubiks_cube_left_of_bowl' 1/1", "score": 1.0}, {"step": 292, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.106m", "score": 1.0}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19653c3589b31174190b67c68d3647f5b9f82f38
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeLeftOfBowlTask/log_8_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["simple"], "_task_attributes": ["simple"], "_task_name": "RubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube in the bowl", "contact_object_list": ["rubiks_cube", "bowl", "table"], "_instruction_variants": {"default": "Put the cube in the bowl", "vague": "Put it in the bowl", "specific": "Pick up the rubiks cube that's on the table and place it inside the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c04fb365afa1fda744b28c158cd7f4356bc1ea
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 311, "events": [{"step": 166, "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": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 169, "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": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 311, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd26fff99b25852c52c4c31ec5fe91237026442a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 397, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "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": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 277, "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": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 397, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d129e7271195db9b4cddf386d8f9ca2e6dcb6389
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 500, "events": [{"step": 273, "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": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 278, "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": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 282, "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": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 286, "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": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 366, "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": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 372, "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": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 379, "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": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 382, "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": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 385, "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": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 500, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63317f7c1128bf1b7beed5d38390efb90bf71b6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 426, "events": [{"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "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": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 426, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1618ee9b2349d233e2afbd548a823c5769deb80c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 401, "events": [{"step": 186, "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": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 192, "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": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 196, "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": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 201, "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": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 401, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e26a55298fe609c30bd80d8f84db0fd9915489e6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 5, "success": true, "final_step": 395, "events": [{"step": 200, "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": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 395, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf9cbf2cb9876474adf0cfb845bb9689f503acc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 569, "events": [{"step": 154, "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": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 202, "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": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 213, "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": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 285, "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": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 402, "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": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "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": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 494, "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": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 501, "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": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 504, "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": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 507, "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": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 569, "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/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a59bc51d7a727e1fd5901befd95f6be83b5dba
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json
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"{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red bbq sauce bottle in the crate", "contact_object_list": ["bbq_sauce_bottle", "purple_crate", "table", "ceramic_mug", "salad_dressing_bottle"], "_instruction_variants": {"default": "Put the red bbq sauce bottle in the crate", "vague": "Put the red bottle away", "specific": "Pick up the red BBQ sauce bottle and place it inside the wooden crate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72721aa41215dc1c764d6bad308279605590442e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 420, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1baf3c9e6e0529dd44f37e8960ff892a3f8e549
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 1, "success": true, "final_step": 531, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 531, "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/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df36da4b798f1eaaade402862e089aa507525965
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 2, "success": true, "final_step": 386, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 386, "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/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c196ea0f7239d9b29ecd72d71494de5a8baaf2c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 3, "success": false, "final_step": 600, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 548, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20c9ca6550deda677393d377b75a20a17db89d9
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 4, "success": true, "final_step": 361, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 361, "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/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd97eca32e1df370e994f8db2a06557059730215
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a556ba0492148755189ccd95d9aa70d46e0a7ef7
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+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9263e2ea74066025031b04e4c776c1f36637ae2
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json
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+++ b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_9_env0.json
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"score": 1.0, "logical": "all", "K": null, "name": "take_measuring_cup_out"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "TakeMeasuringSpoonOutTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "vague": "Take the measuring spoon out of the bowl", "specific": "Reach into the bowl, grasp the measuring spoon, lift it out, and place it on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d973e876d467a2109ba7c3f4be635f44197d9449
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 0, "success": true, "final_step": 358, "events": [{"step": 198, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 237, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.081m", "score": 1.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.166m", "score": 1.0}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7676c3397b131a96fc0f54fb70413290274a46ea
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 327, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 375, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.156m", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..45157e67e3905da5cec408601a1db94274e23fbc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 2, "success": true, "final_step": 232, "events": [{"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 154, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 167, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.101m", "score": 1.0}, {"step": 202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.234m", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb4edd3786998cd851d104a8f0f87a5b71d2c34
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 3, "success": true, "final_step": 406, "events": [{"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 225, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 246, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 386, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cup' displaced 0.556m", "score": 1.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7987745f358ddce3f5ec0960f79ae027307298fc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_5_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_6_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_7_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..156bbcda3b9a93c61eaf7b3813e25e2e0be4bf49
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 207, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 815, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 842, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 848, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a071492eeb81ebc5d270cb291d90721117d978ce
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 273, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 701, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 757, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_hammer'", "score": 1.0}, {"step": 773, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 773, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 775, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 802, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 853, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 868, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 887, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..673c50ee5c85a0c2a982515c22f29b322c9578dc
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wood_hammer'", "score": 0.0}, {"step": 311, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 443, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.052m", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 457, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 469, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.063m", "score": 0.0}, {"step": 481, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.058m", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wood_hammer' nudged 0.053m", "score": 0.0}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.057m", "score": 0.0}, {"step": 503, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.052m", "score": 0.0}, {"step": 521, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 523, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 803, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b50cc66d8604f02968750f89b5ce2264b9c47ce
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 882, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 882, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ade786bbe432751e9d3a8d9896f8e578cbc017
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 4, "success": true, "final_step": 829, "events": [{"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 559, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19f305886d2e8ec4597bdbe4402455941cbbf41b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 363, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 363, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8affd1eb4b05a6975230d37171f8077ff0b0afbb
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 324, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 420, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 488, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 712, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 753, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 759, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d841ed0421e5ab7470637013f46e8ca46f16e41
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 7, "success": true, "final_step": 791, "events": [{"step": 384, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 389, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 389, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 424, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 425, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 483, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 505, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 508, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 783, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0280aed9608bc79483f459049a554917cbd33941
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 182, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for 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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0239e33a6ba468c4f79b890e28c4534d35160c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 299, "events": [{"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fd39a1e1676d67f09bc68b046a77d2607f73953
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 854, "events": [{"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 854, "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/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46c2cc2154b5ef553536993f32c80dc1924bc2c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 526, "events": [{"step": 9, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 526, "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/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce2280fe99f065a0d214e133da39f4db6dfde564
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 902, "events": [{"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 516, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_middle). regressing to step 0 for rubiks_cube_middle.", "score": 0.5}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 902, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 902, "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/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2dd711aac5b19b353ca2110cc7e91f49618a33b
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 983, "events": [{"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_middle). regressing to step 0 for rubiks_cube_middle.", "score": 0.5}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 983, "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/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..686b1d7fe8d2e2832697d7689697bdd483ba782c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 5, "success": true, "final_step": 922, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 922, "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/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21e6b45e58257b9d699ae8b71026d4d09b7237e
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 323, "events": [{"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_middle, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_middle. All conditions satisfied for rubiks_cube_middle.", "score": 0.5}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ab5c395ce0e4a4fc52d13f647795b488528179
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_8_env0.json
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diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_9_env0.json
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\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb481d08d3dd54a69864e4b0c8f7dee85ca9270
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 875, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 983, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 996, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 996, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1004, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1107, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..355485168f6a228c28e4a21c76d52e9091dc2185
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 945, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 945, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c3ee7b3dff5bb5b7acdf2ef2b48a01f50025a6
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 733, "events": [{"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 406, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 545, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 733, "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/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..830615ef221f217cd0ac0070135c50eab267fdfe
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 3, "success": true, "final_step": 1183, "events": [{"step": 284, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 288, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 304, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 577, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1040, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1060, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4fbc0996ea241bc8f029abc36d46b9f30969606
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 4, "success": true, "final_step": 1341, "events": [{"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 468, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 909, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1153, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1164, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1330, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1341, "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/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff751c7d5d30be4553011b847933e805a5a2942c
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 491, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 622, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 684, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_07' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 684, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_07'", "score": 0.5}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 723, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_07'", "score": 0.5}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 779, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 797, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 884, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 981, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 982, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 983, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1005, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e18f4161242a0012754316db0e199f4e9f5048a
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 985, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 998, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 998, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1013, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 1017, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 1295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 1342, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 1346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d044cf86aa39ecfd52cc7ed6685157433ec61d83
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 345, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 795, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 836, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 839, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_small'", "score": 0.0}, {"step": 840, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 905, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 1205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.052m", "score": 0.0}, {"step": 1315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..47922d2bdeaf8c5d3cbd6cc73518eff7de04a84f
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 371, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 517, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1013, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1013, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1283, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1310, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1320, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1336, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.120m", "score": 0.5}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63816c12f98cf21013511450c4358fe4469f68b0
--- /dev/null
+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 9, "success": true, "final_step": 1328, "events": [{"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1011, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1011, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.5}, {"step": 1011, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.5}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1231, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1231, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1239, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/run_0.hdf5 b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/run_0.hdf5
new file mode 100644
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+++ b/full_task_1x/2026-10-01_05-52-31_harness/UtensilsInMugTask/run_0.hdf5
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+{"env_name": "BowlStackingRightOnLeftTask", "task_name": "BowlStackingRightOnLeftTask", "run_name": "BowlStackingRightOnLeftTask_7", "run": 7, "episode": 7, "env_id": 0, "policy": "harness", "instruction": "Stack the right bowl on the left bowl", "attributes": ["spatial", "simple"], "success": true, "episode_step": 232, "duration": 15.466666666666667, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.3381492050720305, "joint_sparc_mean": -4.096966658985176, "ee_isj": 105.35206845087808, "joint_isj": 9332.1657549591, "ee_path_length": 1.1751371978477543, "joint_rmse_mean": 0.9840223678997482, "ee_speed_max": 0.14281189441680908, "ee_speed_mean": 0.0707959458231926}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_BUMPED": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 326.569, "policy_inference_avg_ms": 1407.6, "env_step_s": 45.855, "env_step_avg_ms": 197.7, "video_write_s": 3.082, "video_write_avg_ms": 13.3, "wall_total_s": 375.506, "it_per_sec": 0.62}, "score": 1.0, "reason": "Completed subtask 'stack_bowl_right_on_left' 1/1"}
+{"env_name": "BowlStackingRightOnLeftTask", "task_name": "BowlStackingRightOnLeftTask", "run_name": "BowlStackingRightOnLeftTask_8", "run": 8, "episode": 8, "env_id": 0, "policy": "harness", "instruction": "Stack the right bowl on the left bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -2.9401101789145945, "joint_sparc_mean": -5.3466578483887295, "ee_isj": 842.7831800789785, "joint_isj": 31829.27467187741, "ee_path_length": 2.1413676280555616, "joint_rmse_mean": 1.0347354577633106, "ee_speed_max": 0.4469550848007202, "ee_speed_mean": 0.10000984370708466}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["bowl_1", "bowl_1", "bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 445.339, "policy_inference_avg_ms": 1484.5, "env_step_s": 61.608, "env_step_avg_ms": 205.4, "video_write_s": 3.56, "video_write_avg_ms": 11.9, "wall_total_s": 510.507, "it_per_sec": 0.59}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingRightOnLeftTask", "task_name": "BowlStackingRightOnLeftTask", "run_name": "BowlStackingRightOnLeftTask_9", "run": 9, "episode": 9, "env_id": 0, "policy": "harness", "instruction": "Stack the right bowl on the left bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.144651200406049, "joint_sparc_mean": -3.9767276459035137, "ee_isj": 142.4220747422696, "joint_isj": 11696.50501197924, "ee_path_length": 1.6156499911168658, "joint_rmse_mean": 0.9917714291229655, "ee_speed_max": 0.1849392205476761, "ee_speed_mean": 0.07546252012252808}, "events": {"WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["bowl_2", "bowl_2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 469.61, "policy_inference_avg_ms": 1565.4, "env_step_s": 64.616, "env_step_avg_ms": 215.4, "video_write_s": 3.529, "video_write_avg_ms": 11.8, "wall_total_s": 537.754, "it_per_sec": 0.56}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}