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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PickUpGreenObjectTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/PickUpGreenObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..061aeaaf5462f90f6bfd0cc84ea2b5ec7102e59a
--- /dev/null
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..892035cb52eb2c7ffd7571da29b0e04c17bef305
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/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": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 91, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.292m", "score": 0.0}, {"step": 102, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 107, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.227m", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7a3da822008af6bf414cb153429192d6816ac3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 45, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 48, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.223m", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e35ed490e7d9fce71a3e01a4a39854e1e1d69c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutBowlOnShelfTopTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 495, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/PutBowlOnShelfTopTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b2bf6c245e28332d20a2e782ccfe450379ec6
--- /dev/null
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9230115a855d84cf549332ecc42b4de7cfbc2322
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/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": 1359, "events": [{"step": 87, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 87, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 399, "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=mug_01). advanced 1 step(s) to step 1 for mug_01.", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 414, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 437, "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": 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_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 451, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 479, "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": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.227m", "score": 0.5}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.442m", "score": 0.5}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 595, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 595, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.466m", "score": 1.0}, {"step": 725, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.065m", "score": 1.0}, {"step": 774, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.058m", "score": 1.0}, {"step": 776, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.081m", "score": 1.0}, {"step": 844, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.055m", "score": 1.0}, {"step": 859, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.238m", "score": 1.0}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.137m", "score": 1.0}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.087m", "score": 1.0}, {"step": 914, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: [])", "score": 1.0}, {"step": 914, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 1.0}, {"step": 915, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 935, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.184m", "score": 1.0}, {"step": 975, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 1.0}, {"step": 981, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.074m", "score": 1.0}, {"step": 1229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.050m", "score": 1.0}, {"step": 1229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.054m", "score": 1.0}, {"step": 1230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.052m", "score": 1.0}, {"step": 1230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.062m", "score": 1.0}, {"step": 1230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.055m", "score": 1.0}, {"step": 1230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug_01' nudged 0.052m", "score": 1.0}, {"step": 1247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.097m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7334ad4119cac979a436df7c7ba947233381c3ea
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "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": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83587f68447b615901569c185db9bf58467bade
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "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": 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_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 258, "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": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 372, "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": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 692, "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=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 781, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 781, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 781, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 782, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "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=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1303, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1516, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.054m", "score": 0.5}, {"step": 1516, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.052m", "score": 0.5}, {"step": 1554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..165ed3ae97bac5ce2e70101e1e988313e0e12cab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 93, "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": 99, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 297, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 418, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 543, "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=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 685, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 698, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 777, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 813, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 816, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 837, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 846, "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": 860, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 921, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 933, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 942, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 946, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 948, "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": 956, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 966, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 971, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 972, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 991, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1006, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1021, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1037, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1081, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1083, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1097, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1098, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1099, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1100, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1101, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1111, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1224, "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": 1235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1314, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1315, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.061m", "score": 0.5}, {"step": 1315, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.060m", "score": 0.5}, {"step": 1398, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1416, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 1420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 1426, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.266m", "score": 0.5}, {"step": 1426, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.309m", "score": 0.5}, {"step": 1429, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.5}, {"step": 1431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.117m", "score": 0.5}, {"step": 1432, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.890m", "score": 0.5}, {"step": 2218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 2299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2299, "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": 2303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 2417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2417, "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": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.5}, {"step": 2582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2582, "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": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2596, "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/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b35403494b6a3b8e07ab0233d4ca272570ab87
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 93, "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": 102, "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_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 525, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 540, "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": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 773, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 773, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 773, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 775, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2157, "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": 2159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 2191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 2222, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 2248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 2381, "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": 2416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2417, "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": 2418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2447, "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": 2448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2452, "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": 2519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 2619, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5bd5b9519693c3047cb2ecb15697daabb11151
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 90, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 156, "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": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 255, "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": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 401, "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": 452, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 452, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.5}, {"step": 452, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 524, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.5}, {"step": 525, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.130m", "score": 0.5}, {"step": 525, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.5}, {"step": 532, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 0.991m", "score": 0.5}, {"step": 537, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.953m", "score": 0.5}, {"step": 620, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.5}, {"step": 669, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.5}, {"step": 683, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.5}, {"step": 780, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 958, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1039, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3ce00f6af22e20a5acce8aa6ba7179a0ee03821
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 65, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 65, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 193, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 197, "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": 421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "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": 565, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 666, "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": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 962, "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": 977, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1307, "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": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1397, "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": 1456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1486, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1501, "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": 1505, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1516, "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": 1524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1524, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1527, "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": 1531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1613, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1613, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1620, "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": 1624, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'spatula_01'", "score": 0.0}, {"step": 1624, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 1627, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wireshelving_a01' displaced 0.663m", "score": 0.0}, {"step": 1627, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_01' displaced 0.861m", "score": 0.0}, {"step": 1632, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.157m", "score": 0.0}, {"step": 1635, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.870m", "score": 0.0}, {"step": 1637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1639, "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": 1648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1668, "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": 1670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1671, "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": 1672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1933, "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": 1934, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1934, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1936, "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": 1941, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1941, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1945, "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": 1947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebfc6d286d51d94862f003a2b7e5c1f23413cf75
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 98, "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": 100, "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 543, "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": 549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 567, "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=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1154, "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": 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_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2384, "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": 2387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2490, "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": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2508, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2561, "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": 2566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2571, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2571, "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": 2617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2617, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 2617, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2679, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2687, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e25e3a4d60f64182c3f999eaeda00aee9a04c5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 89, "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": 119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 121, "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": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 437, "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": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 919, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1523, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1937, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.089m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..eac087433c41664a479d06328fdf74957ceac4d8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/PutTwoMugsOnShelfTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 9, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 63, "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": 72, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 106, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 106, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 107, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 392, "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": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 816, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 824, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 939, "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": 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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 952, "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": 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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1493, "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": 1502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1514, "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": 1516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"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": 0.0}, {"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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1574, "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": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1579, "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": 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=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1590, "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": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1619, "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": 1621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1635, "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": 1636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1643, "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": 1651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1652, "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": 1663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object 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\ No newline at end of file
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..82055ca1cd445e51d49f3e80e5a9c75998659f65
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 0, "success": true, "final_step": 825, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 91, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 139, "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=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_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=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 closed", "score": 0.0}, {"step": 282, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 311, "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=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 446, "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. 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d79e898df4c09420716b48dc01fb69ceec065ff9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 1, "run": 0, "success": true, "final_step": 1141, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 93, "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": 149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 149, "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": 260, "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": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 473, "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": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 482, "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": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 484, "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": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 487, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 494, "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": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 523, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 544, "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": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 577, "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=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 739, "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=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 941, "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": 991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1072, "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": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1141, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbda5205c7324d7c122538e19f5733336e5111a3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 2, "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": 75, "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": 78, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 78, "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": 102, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "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": 258, "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=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 446, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 449, "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": 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=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": 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": 456, "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": 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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 463, "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": 465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 465, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 512, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 531, "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": 532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 533, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 655, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 664, "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": 665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 665, "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": 669, "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 729, "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": 751, "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 872, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 979, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 983, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 991, "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": 1019, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1020, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1020, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1098, "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": 1142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1171, "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": 1233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1234, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 1333, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9293d233a51424e19a2fc9e055e0c8c386698442
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 3, "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": 95, "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": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 166, "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": 417, "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": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 560, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 618, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 621, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 679, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 749, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 850, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 906, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 907, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 908, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 922, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 923, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 924, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 924, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 929, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.161m", "score": 0.5}, {"step": 1000, "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": 1131, "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": 1147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1199, "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": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1219, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1266, "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": 1277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1279, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1291, "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": 1321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..19be620406e9e00cc242eeb4acb2c8363ceb0a8a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 4, "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": 76, "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": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 151, "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": 330, "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": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 333, "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": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 461, "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": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 589, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 624, "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": 647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 652, "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": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 655, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 664, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 678, "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": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 759, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"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": 0.5}, {"step": 791, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 859, "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": 913, "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": 974, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 974, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 981, "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": 982, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 982, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 984, "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": 991, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 993, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 993, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1040, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1137, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.085m", "score": 0.5}, {"step": 1251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1312, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..726fea44ba84fe8f69e8918d5f05b47df3466fba
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 5, "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": 91, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "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": 141, "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=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": 383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 387, "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": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 574, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 724, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 804, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 945, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 950, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 952, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1041, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1044, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1047, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1106, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1111, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1126, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 1248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1249, "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/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..67285854e3ef105506a0c98dba99afa57893f5e8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 6, "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": 94, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 235, "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=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 346, "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": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 595, "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": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 766, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 865, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 893, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 911, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['milk_carton', 'orange_juice_carton'])", "score": 0.5}, {"step": 939, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 939, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.198m", "score": 0.5}, {"step": 958, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.160m", "score": 0.5}, {"step": 966, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 998, "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": 1012, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1012, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1045, "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": 1055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1055, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1056, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1187, "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": 1189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1219, "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": 1223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1227, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1304, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1350, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b933af8fc91839112c16b4043adbadbc3164e83f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 7, "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": 82, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 345, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 439, "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": 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=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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 539, "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": 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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 567, "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=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 644, "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 713, "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": 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=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": 901, "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": 902, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 902, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 903, "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": 926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 927, "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": 931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 931, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1036, "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": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1111, "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. 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfd0f917ac0fcf3cc84ed3f57f71e12a815dbc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env8.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env9.json
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index 0000000000000000000000000000000000000000..57f063d5d13d961c295cf565f55ce3118ae5e0d7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RecycleCartonTask/log_0_env9.json
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All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 460, "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": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 465, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 555, "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": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "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": 602, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 602, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 603, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 619, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 678, "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": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"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": 0.5}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 704, "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": 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=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
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"robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug", "ceramic_mug", "sideways_white_mug", "upright_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f75319e6a20>, object='red_mug', require_gripper_detached=True)", 0.5]], "reorienting_ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='ceramic_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f75319e6a20>, object='ceramic_mug', require_gripper_detached=True)", 0.5]], "reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f75319e6a20>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "complex"], "_task_attributes": ["reorientation", "complex"], "_task_name": "ReorientAllMugsTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "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": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a147bcb04b5d94dede4ffc07539aeac4148876c6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/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": 39, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 39, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 40, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 50, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 121, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 131, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 167, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.126m", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 338, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 338, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 338, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.16666666666666666}, {"step": 338, "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": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.16666666666666666}, {"step": 345, "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": 447, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.0}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 673, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.074m", "score": 0.0}, {"step": 675, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 696, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.115m", "score": 0.0}, {"step": 696, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.119m", "score": 0.0}, {"step": 718, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.0}, {"step": 719, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 763, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.070m", "score": 0.0}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.169m", "score": 0.0}, {"step": 816, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.168m", "score": 0.0}, {"step": 1140, "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": 1158, "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": 1160, "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": 1257, "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": 1258, "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": 1279, "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": 1344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.316m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a65b4e6a9f5781fcb73a671116009a348be11325
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.056m", "score": 0.0}, {"step": 210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.185m", "score": 0.0}, {"step": 323, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', '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": 373, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 378, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 382, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 383, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.132m", "score": 0.0}, {"step": 428, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 873, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 873, "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": 890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.16666666666666666}, {"step": 901, "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": 906, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.087m", "score": 0.0}, {"step": 1021, "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": 1040, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.055m", "score": 0.16666666666666666}, {"step": 1045, "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": 1261, "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": 1276, "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/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..de661e52a62ec718164470a1b38418650cbbefe3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 201, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 201, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.16666666666666666}, {"step": 201, "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": 203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 203, "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": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.125m", "score": 0.0}, {"step": 338, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 392, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.106m", "score": 0.0}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.216m", "score": 0.0}, {"step": 665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.067m", "score": 0.0}, {"step": 740, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.235m", "score": 0.0}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.107m", "score": 0.0}, {"step": 836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.065m", "score": 0.0}, {"step": 953, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.082m", "score": 0.0}, {"step": 1202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 1237, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.083m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2995c5be57d78668ded043237cca0aefb281f6a2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 150, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 150, "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": 153, "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": 165, "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": 166, "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": 171, "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": 172, "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": 197, "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": 218, "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": 219, "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": 263, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 364, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 369, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 498, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 505, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 545, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 568, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.141m", "score": 0.3333333333333333}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.055m", "score": 0.3333333333333333}, {"step": 672, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.189m", "score": 0.3333333333333333}, {"step": 688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 733, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 773, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.052m", "score": 0.3333333333333333}, {"step": 863, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.091m", "score": 0.3333333333333333}, {"step": 884, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.069m", "score": 0.3333333333333333}, {"step": 899, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.3333333333333333}, {"step": 904, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 905, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 927, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.148m", "score": 0.3333333333333333}, {"step": 941, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.3333333333333333}, {"step": 952, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.082m", "score": 0.3333333333333333}, {"step": 1138, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.297m", "score": 0.3333333333333333}, {"step": 1170, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.149m", "score": 0.3333333333333333}, {"step": 1200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.054m", "score": 0.3333333333333333}, {"step": 1275, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.065m", "score": 0.3333333333333333}, {"step": 1291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.114m", "score": 0.3333333333333333}, {"step": 1328, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.073m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a05aaa71071ea41846e5d25c349ec1b4ac014c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 55, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 55, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.104m", "score": 0.0}, {"step": 224, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.108m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.256m", "score": 0.0}, {"step": 329, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.065m", "score": 0.0}, {"step": 387, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.152m", "score": 0.0}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.186m", "score": 0.0}, {"step": 548, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.120m", "score": 0.0}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.155m", "score": 0.0}, {"step": 613, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.185m", "score": 0.0}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.091m", "score": 0.0}, {"step": 731, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}, {"step": 806, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.144m", "score": 0.0}, {"step": 824, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.071m", "score": 0.0}, {"step": 864, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.081m", "score": 0.0}, {"step": 1008, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.380m", "score": 0.0}, {"step": 1044, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.206m", "score": 0.0}, {"step": 1072, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.148m", "score": 0.0}, {"step": 1125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.145m", "score": 0.0}, {"step": 1155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.133m", "score": 0.0}, {"step": 1174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.104m", "score": 0.0}, {"step": 1264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.185m", "score": 0.0}, {"step": 1309, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.090m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4add56afb9a587c65dfa5439df3fb9cee9c5a9a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 46, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 46, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 72, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.254m", "score": 0.0}, {"step": 101, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 324, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 324, "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": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"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": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 335, "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": 381, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"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": 0.0}, {"step": 382, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 382, "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": 383, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 383, "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": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 384, "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": 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": 392, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.111m", "score": 0.0}, {"step": 396, "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": 486, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 572, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 580, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 583, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 589, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 590, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.064m", "score": 0.3333333333333333}, {"step": 650, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.075m", "score": 0.3333333333333333}, {"step": 729, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.114m", "score": 0.3333333333333333}, {"step": 757, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.071m", "score": 0.3333333333333333}, {"step": 992, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 1033, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.213m", "score": 0.3333333333333333}, {"step": 1045, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1046, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1083, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.191m", "score": 0.3333333333333333}, {"step": 1175, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.083m", "score": 0.3333333333333333}, {"step": 1195, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.3333333333333333}, {"step": 1228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 0.3333333333333333}, {"step": 1247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 1265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.125m", "score": 0.3333333333333333}, {"step": 1318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca15929a9521c36027b343204898db31f73f7d5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 173, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 173, "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": 182, "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": 208, "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": 222, "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": 248, "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": 249, "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": 251, "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": 254, "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": 255, "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": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 257, "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": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 319, "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": 334, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.056m", "score": 0.16666666666666666}, {"step": 350, "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": 352, "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": 361, "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": 363, "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": 364, "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": 366, "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": 369, "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": 370, "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": 376, "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": 443, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.054m", "score": 0.0}, {"step": 505, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.16666666666666666}, {"step": 505, "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": 508, "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": 509, "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": 514, "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": 515, "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": 516, "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": 538, "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": 540, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 549, "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": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 657, "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": 678, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 678, "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": 710, "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": 711, "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": 712, "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": 733, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 757, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.128m", "score": 0.16666666666666666}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.061m", "score": 0.16666666666666666}, {"step": 803, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 803, "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": 818, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 826, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 884, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.051m", "score": 0.3333333333333333}, {"step": 924, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 932, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1038, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1051, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.127m", "score": 0.3333333333333333}, {"step": 1146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.131m", "score": 0.3333333333333333}, {"step": 1210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.162m", "score": 0.3333333333333333}, {"step": 1231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.150m", "score": 0.3333333333333333}, {"step": 1242, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.052m", "score": 0.3333333333333333}, {"step": 1272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1290, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.062m", "score": 0.3333333333333333}, {"step": 1293, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.055m", "score": 0.3333333333333333}, {"step": 1306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.056m", "score": 0.3333333333333333}, {"step": 1323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 1334, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.083m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ffc0ae59fa6218322ac07604c445fc25da4581a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.16666666666666666}, {"step": 98, "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": 106, "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": 198, "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": 199, "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": 213, "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": 218, "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": 543, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 543, "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": 545, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 555, "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": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 561, "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": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 571, "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": 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": 607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.16666666666666666}, {"step": 666, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.16666666666666666}, {"step": 666, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.16666666666666666}, {"step": 668, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 668, "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": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 672, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 674, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 677, "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": 704, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"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": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 705, "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": 713, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 713, "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": 715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 715, "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": 720, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 720, "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": 721, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 721, "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": 722, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 722, "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": 724, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 724, "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": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 736, "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": 741, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 741, "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": 743, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 743, "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": 745, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 745, "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": 764, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 764, "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": 769, "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": 777, "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": 780, "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": 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": 784, "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": 929, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 949, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.3333333333333333}, {"step": 964, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.068m", "score": 0.3333333333333333}, {"step": 966, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1040, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 1168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1169, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 1261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1261, "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": 1274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}, {"step": 1274, "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": 1347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.236m", "score": 0.3333333333333333}, {"step": 1349, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.3333333333333333}, {"step": 1350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e359b68f301ec747b354b4980bbf5ee101270c68
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientAllMugsTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 56, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.055m", "score": 0.0}, {"step": 89, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 102, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 305, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 307, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.053m", "score": 0.0}, {"step": 339, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.071m", "score": 0.0}, {"step": 356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 368, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.116m", "score": 0.0}, {"step": 480, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 587, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.16666666666666666}, {"step": 587, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.16666666666666666}, {"step": 587, "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": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.16666666666666666}, {"step": 637, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.059m", "score": 0.16666666666666666}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.3333333333333333}, {"step": 684, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "success: object_upright(object=sideways_white_mug, require_gripper_detached=True). advanced 1 step(s) to step 2 for reorienting_sideways_white_mug. All conditions satisfied for reorienting_sideways_white_mug.", "score": 0.3333333333333333}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 884, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_red_mug', 'reorienting_ceramic_mug', 'reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 884, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 884, "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": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 924, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.125m", "score": 0.5}, {"step": 961, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.3333333333333333}, {"step": 961, "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": 998, "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. 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientAllMugsTask/log_0_env9.json
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\ No newline at end of file
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{"ee_pose": "base_link"}, "task_attributes": ["semantics", "reorientation", "affordance", "moderate"], "_task_attributes": ["semantics", "reorientation", "affordance", "moderate"], "_task_name": "ReorientJugTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stand the jug upright", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Stand the jug upright", "vague": "Fix the jug", "specific": "Grasp the jug that is tipped on its side place it upright"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78bf748164be4de6dffdccfc37ce7c160c90fd0f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 306, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d3d8399faf723b5b1688496f55dcb2d38f8d7f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['reorienting_jug'])", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 240, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ece47dc1a0777c84aef88022492122e29f89e3b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e23fc87075d5391b4e0acbb3efdc8395c9d43d7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['reorienting_jug'])", "score": 0.0}, {"step": 191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 210, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 876, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['reorienting_jug'])", "score": 0.0}, {"step": 898, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..680a7f6a9ed5e4cee9510af5c4715494c01da9bf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.055m", "score": 0.0}, {"step": 775, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.5}, {"step": 775, "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": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 800, "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": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['reorienting_jug'])", "score": 0.5}, {"step": 817, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 817, "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": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 830, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a02). regressing to step 0 for reorienting_jug.", "score": 0.0}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.186m", "score": 0.0}, {"step": 851, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.233m", "score": 0.0}, {"step": 874, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 894, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.825m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc62464eb1e12bbc591820ef8822d81dd930ee9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientJugTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ReorientJugTask/log_0_env6.json
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@@ -0,0 +1 @@
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"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": ["rubiks_cube", "banana"], "container": "bowl", "logical": "all", "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 0x7f7531a04900>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f7531a04540>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f7531a04540>, 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": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeAndBananaTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube and the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube and the banana in the bowl", "vague": "Put everything in the bowl", "specific": "Pick up the rubiks cube and the yellow banana and place both inside the bowl"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e1c76ccc770b3eebc90588d9a179c24f38a8da
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 114, "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": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 196, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"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": 0.5}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 435, "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": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 576, "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": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 586, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 588, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 588, "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": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 685, "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": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 810, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana', 'rubiks_cube'])", "score": 0.5}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8702c44e2a337175482bdd036a71b0d01f5443e1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 1, "run": 0, "success": true, "final_step": 679, "events": [{"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 111, "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": 118, "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": 119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 296, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 331, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 361, "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": 403, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 403, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"step": 638, "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": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..da34f9583a7162b20dc64d2deb094ba93ca142b7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 129, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 167, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 255, "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": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 301, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"step": 436, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 449, "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": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 460, "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": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 505, "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": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 610, "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": 0.5}, {"step": 628, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 657, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 663, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 781, "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": 888, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "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/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff25fac31097c6fcc9ace580e16935123f6d351
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 3, "run": 0, "success": true, "final_step": 229, "events": [{"step": 69, "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": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 106, "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": 179, "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": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd6a6862287356870749d980305d4e9a879e650
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 73, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 137, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 219, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"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": 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). regressing to step 0 for banana.", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana', 'rubiks_cube'])", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "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": 427, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 441, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 443, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 447, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 453, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 458, "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": 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=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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 493, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 497, "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": 549, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 549, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 550, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 552, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 568, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 571, "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": 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=banana). regressing to step 0 for banana.", "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 579, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"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=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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 602, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 610, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 615, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 618, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 638, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 714, "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": 725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"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). regressing to step 0 for banana.", "score": 0.0}, {"step": 729, "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": 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=banana). regressing to step 0 for banana.", "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 769, "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": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 814, "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": 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": 839, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 854, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 862, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 890, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 895, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 897, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..6715e0586f468c8b5a70e7a05fd9cc0b122c215d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeAndBananaTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 76, "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": 77, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 92, "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": 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": 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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env6.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeAndBananaTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..90fc3011856a4ae5fadc2736d83ed354a0d0f280
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeLeftOfBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 19, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group3', 'group1', 'group2'])", "score": 0.6666666666666666}, {"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 163, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.178m", "score": 0.6666666666666666}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.168m", "score": 0.6666666666666666}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c75d024c42fbab5a893afb1eeee02d681d7af8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env1.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env2.json
new file mode 100644
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env3.json
new file mode 100644
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env4.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env5.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env6.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/RubiksCubeLeftOfBowlTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7226047881da9bbec7871238a40a25425c89e3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallerObjectButterInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 164, "events": [{"step": 53, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 164, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..764235f6e3512aa1f7f8473f7ddb56882335a5b2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env1.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json
new file mode 100644
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--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env3.json
new file mode 100644
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env4.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env5.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env6.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env7.json
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@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/SmallerObjectButterInBinTask/log_0_env9.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": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "smartphone", "container": "grey_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"smartphone": [["functools.partial(<function object_grabbed at 0x7f7531a04900>, object='smartphone')", 0.0], ["functools.partial(<function object_in_container at 0x7f7531a04540>, object='smartphone', 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", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "SmartphoneInBinTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the smartphone 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 smartphone in the grey bin", "vague": "Put the phone in the bin", "specific": "Pick up the smartphone in front of you and place it inside the grey bin alongside the keyboard"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d31d8d95f2b9df1d2874d602d92d85bb8799040
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 112, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'remote_control' (target objects: ['smartphone'])", "score": 0.0}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'remote_control'", "score": 0.0}, {"step": 159, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.076m", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 280, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 380, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 388, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 458, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 557, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 656, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 658, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 704, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 738, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 754, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 839, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce21504991e1f9fa5b7ff3e48fb27952a7b4fd4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['smartphone'])", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.354m", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.422m", "score": 0.0}, {"step": 550, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 577, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lizard_figurine' (target objects: ['smartphone'])", "score": 0.0}, {"step": 677, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.251m", "score": 0.0}, {"step": 679, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lizard_figurine'", "score": 0.0}, {"step": 686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.285m", "score": 0.0}, {"step": 817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=smartphone). advanced 1 step(s) to step 1 for smartphone.", "score": 0.0}, {"step": 831, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}, {"step": 831, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=smartphone). regressing to step 0 for smartphone.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a66d0baaa4358798967d6401e97263d48354c7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 96, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 106, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 143, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 426, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['smartphone'])", "score": 0.0}, {"step": 581, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.147m", "score": 0.0}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.211m", "score": 0.0}, {"step": 645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.099m", "score": 0.0}, {"step": 662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 669, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['smartphone'])", "score": 0.0}, {"step": 669, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 674, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['smartphone'])", "score": 0.0}, {"step": 675, "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/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6bf5d815a6c8df8c0cf16af85c56af5383853f3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 59, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 79, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'remote_control' (target objects: ['smartphone'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'remote_control'", "score": 0.0}, {"step": 350, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 364, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 375, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 506, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 527, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 751, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c13dacc70932669481b7c627aa28682ebeb97f2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmartphoneInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 368, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 376, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.699m", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['smartphone'])", "score": 0.0}, {"step": 705, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 737, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['smartphone'])", "score": 0.0}, {"step": 742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "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/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc37417ccc068236564406d5ca2fe869d053c65f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/SmartphoneInBinTask/log_0_env5.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..59926beb1358bb4e223c84790f1485b6aa885361
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 49, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 49, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.309m", "score": 0.0}, {"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.060m", "score": 0.0}, {"step": 194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.080m", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.114m", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.146m", "score": 0.0}, {"step": 343, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.083m", "score": 0.0}, {"step": 378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.080m", "score": 0.0}, {"step": 422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.089m", "score": 0.0}, {"step": 438, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.081m", "score": 0.0}, {"step": 674, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 701, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.064m", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 802, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 803, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 889, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 897, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['group1', 'group2'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..983b75bae6cda1e27abddfc702363efff2507c96
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.224m", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.057m", "score": 0.0}, {"step": 186, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.086m", "score": 0.0}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.096m", "score": 0.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.069m", "score": 0.0}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.105m", "score": 0.0}, {"step": 375, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.069m", "score": 0.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 542, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 658, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.153m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79831a65c2bb0547411f18967f7310544c3dc95
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 45, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.276m", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.129m", "score": 0.0}, {"step": 168, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.060m", "score": 0.0}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.139m", "score": 0.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.136m", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.082m", "score": 0.0}, {"step": 415, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.073m", "score": 0.0}, {"step": 448, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.053m", "score": 0.0}, {"step": 581, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.077m", "score": 0.0}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.072m", "score": 0.0}, {"step": 653, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.074m", "score": 0.0}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.062m", "score": 0.0}, {"step": 743, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.145m", "score": 0.0}, {"step": 818, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b07a6032b5359f7824cc1586972f453c40f3db
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 3, "run": 0, "success": true, "final_step": 313, "events": [{"step": 56, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.410m", "score": 0.0}, {"step": 198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.099m", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 313, "code": 145, "name": "STACKED_SUCCESS", "info": "success: stacked(objects=['sideways_white_mug', 'upright_white_mug'], order=None). advanced 1 step(s) to step 1 for group2. All conditions satisfied for group2.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8754d276763b8130c6c3f5639fb0e02130b112bc
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 4, "run": 0, "success": true, "final_step": 251, "events": [{"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 51, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.385m", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 251, "code": 145, "name": "STACKED_SUCCESS", "info": "success: stacked(objects=['sideways_white_mug', 'upright_white_mug'], order=None). advanced 1 step(s) to step 1 for group2. All conditions satisfied for group2.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..695c4e094838afa047be9c202b98e3017ef57520
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 31, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 47, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.203m", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.211m", "score": 0.0}, {"step": 204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 275, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.172m", "score": 0.0}, {"step": 317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.078m", "score": 0.0}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 395, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.121m", "score": 0.0}, {"step": 667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 741, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.138m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eade165713e7f549db0a7c5c0ed13e60ec1b666
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 99, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 99, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 99, "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": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 455, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.378m", "score": 0.5}, {"step": 492, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.125m", "score": 0.5}, {"step": 505, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 567, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 586, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.5}, {"step": 653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 700, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 734, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.5}, {"step": 878, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9313ce613cd90d22de93dab772e53223120f890e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 7, "run": 0, "success": true, "final_step": 316, "events": [{"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 79, "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": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 116, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 150, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['group1', 'group2'])", "score": 0.5}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.306m", "score": 0.5}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.100m", "score": 0.5}, {"step": 312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.125m", "score": 0.5}, {"step": 316, "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/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c48d4a83769e4492ae02d1d745567467e59e4d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "StackWhiteMugsTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['group1', 'group2'])", "score": 0.0}, {"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.274m", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 143, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.065m", "score": 0.0}, {"step": 204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.111m", "score": 0.0}, {"step": 224, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.090m", "score": 0.0}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.130m", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.050m", "score": 0.0}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.108m", "score": 0.0}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.166m", "score": 0.0}, {"step": 473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 0.0}, {"step": 550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.077m", "score": 0.0}, {"step": 569, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.088m", "score": 0.0}, {"step": 598, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.069m", "score": 0.0}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.057m", "score": 0.0}, {"step": 704, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.080m", "score": 0.0}, {"step": 753, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.164m", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.088m", "score": 0.0}, {"step": 832, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.159m", "score": 0.0}, {"step": 862, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.121m", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.070m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2a0181edb9ed79d6352b762fb2f89c30026e50
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/StackWhiteMugsTask/log_0_env9.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb041974447a347afedb09fb6800bd11bf154c9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.064m", "score": 0.5}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 139, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.117m", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 384, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e30fe2d86ef4e73eadb6dd58c231f56a75b167e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 60, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 60, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 65, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 68, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 76, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 86, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 226, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff0e6261153104d5b9ab27b546b91a68b166a67
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 176, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 200, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 317, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 319, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 322, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 543, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..678c43f4f188c680ac8e5e771f4c2b89df2af457
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 3, "run": 0, "success": true, "final_step": 317, "events": [{"step": 238, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.064m", "score": 0.5}, {"step": 274, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.106m", "score": 1.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.077m", "score": 1.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.275m", "score": 1.0}, {"step": 310, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.083m", "score": 1.0}, {"step": 317, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1787ec29197902ba3497905188499ca57dfc3a3a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 4, "run": 0, "success": true, "final_step": 472, "events": [{"step": 25, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 231, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 272, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 371, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 460, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 470, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 472, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..37db60f17f91f376316682df26787b70a2da8122
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 5, "run": 0, "success": true, "final_step": 47, "events": [{"step": 28, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 28, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 29, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 47, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}, {"step": 47, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ed1f94f372798d8d32854d52d7468dd4545951
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 6, "run": 0, "success": true, "final_step": 171, "events": [{"step": 69, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 70, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 71, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 88, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 102, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 115, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 140, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.173m", "score": 1.0}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e1aec388552a83252e24e3ec75cc20dc04140
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 7, "run": 0, "success": false, "final_step": 600, "events": [{"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 76, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 78, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 78, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 79, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 109, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['taking_measuring_cup_out'])", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 165, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.161m", "score": 1.0}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.057m", "score": 1.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.060m", "score": 1.0}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.053m", "score": 1.0}, {"step": 474, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.052m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b57bc66e0e85091f3933a436c883cbb185014b9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/TakeMeasuringSpoonOutTask/log_0_env8.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d800663103f9e184b0e68bfee2a9a2cabd14d8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 120, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 178, "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": 231, "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a56b190e8903d46e1826dbbf4ac851ad3d96974
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env1.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e457051aaef664ab8f61481adbd464ca3d3a52
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env2.json
@@ -0,0 +1 @@
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512, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 577, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 591, "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": 608, "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 686, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 694, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 704, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 753, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 755, "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=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 838, "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": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 854, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd281147f4bdde7d25df25eb17534fdca1451a4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 34, "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": 153, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 156, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 279, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 565, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 595, "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=apple_01). advanced 1 step(s) to step 1 for apple_01.", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 701, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 840, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..457492d97a31f839ae56364a6bb865204c2d18c9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 190, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 190, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 201, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 204, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 261, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 471, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 493, "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": 693, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 717, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 722, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 781, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 828, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 840, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2319a925ac5d465dbf97d2c8ab64e2d26ea65f54
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 139, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 269, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 301, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 431, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "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": 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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 492, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 725, "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": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 821, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1a4f068e208e735eb7ac2a1001eafe31e1637f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 162, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 181, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 223, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 245, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 312, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 446, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 481, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 573, "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": 579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 619, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 634, "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=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 677, "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": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 763, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2f9d296379dd85123b0bc24d8f13e99c0f0925
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 53, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 164, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 178, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 184, "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": 187, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 194, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 210, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 245, "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=apple_01). advanced 1 step(s) to step 1 for apple_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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 413, "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": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'keyboard' (target objects: ['apple_01'])", "score": 0.0}, {"step": 431, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 432, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'keyboard'", "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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 543, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 566, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'keyboard' (target objects: ['apple_01'])", "score": 0.0}, {"step": 568, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'keyboard'", "score": 0.0}, {"step": 569, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.0}, {"step": 649, "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": 0.0}, {"step": 650, "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": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.052m", "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": 670, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.091m", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 856, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 880, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b1b289c9ae001093f1ae80bac7097511c1548f2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwayAppleTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 48, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 143, "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": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 158, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 168, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 220, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 250, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 256, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 317, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 433, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 453, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 530, "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": 547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 548, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 632, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 834, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 863, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 887, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}]}
\ No newline at end of file